Mechanical Engineering Commons^™

Shape And Pose Recovery Of Novel Objects Using Three Images From A Monocular Camera In An Eye-In-Hand Configuration, Steven C. Colbert

USF Tampa Graduate Theses and Dissertations

Knowing the shape and pose of objects of interest is critical information when planning robotic grasping and manipulation maneuvers. The ability to recover this information from objects for which the system has no prior knowledge is a valuable behavior for an autonomous or semiautonomous robot. This work develops and presents an algorithm for the shape and pose recovery of unknown objects using no a priori information. Using a monocular camera in an eye-in-hand configuration, three images of the object of interest are captured from three disparate viewing directions. Machine vision techniques are employed to process these images into silhouettes. The …