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Low-cost and Retrofittable Pose Estimation of Rigid Objects Using Infrared Markers

: Lengenfelder, Christian; Horne, Matthias; Hammer, Jan Hendrik; Voit, Michael; Beyerer, Jürgen

Postprint urn:nbn:de:0011-n-5036833 (786 KByte PDF)
MD5 Fingerprint: 17fe23b5adc15975bf730f3348ab6e98
Created on: 26.7.2018

Procedia CIRP 72 (2018), pp.839-844
ISSN: 2212-8271
Conference on Manufacturing Systems (CMS) <51, 2018, Stockholm>
Journal Article, Conference Paper, Electronic Publication
Fraunhofer IOSB ()
pose estimation

We present a system for the 6-DOF pose estimation of rigid objects which can be used for tool tracking in manual manufacturing applications like quality assurance or assembly assistance. To be practical and widely adaptable, the system must be low-cost, passive, impact resistant, retrofittable and applicable to arbitrary rigid objects. Therefore we attach circular markers of retroreflective self-adhesive film to relevant objects. A stereo camera system with IR illumination tracks the 3D positions of these markers and uses known marker constellations to estimate the object pose. Additionally a simple teach-in procedure which learns marker constellations of new objects is presented.