Robust Pose Estimation with a Stereoscopic Camera in Harsh Environments

Robust vision using retro reflective markers for remote handling in ITER

“…In the earlier version of 3D Node [7] the pose estimation problem was tackled by fitting a stereoscopic depth estimate to a known CAD model using an ICP algorithm. To compare with this approach, we captured the same sequence of robot poses with the same scene object, but with increased lighting to enable the stereo cameras to see the objects.…”

“…To address the challenges described herein, the 3D node system was proposed in earlier works [6,7,8]. This solution usesd the information provided by a stereo camera pair to estimate the geometry of the knuckle through stereo matching.…”