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Real-time 3D work-piece tracking with monocular camera based on static and dynamic model libraries

Wenjun Zhu (Institute of Automation, Chinese Academy of Sciences, Beijing, China)
Peng Wang (Institute of Automation, Chinese Academy of Sciences, Beijing, China)
Rui Li (Institute of Automation, Chinese Academy of Sciences, Beijing, China)
Xiangli Nie (Institute of Automation, Chinese Academy of Sciences, Beijing, China)

Assembly Automation

ISSN: 0144-5154

Article publication date: 3 April 2017

170

Abstract

Purpose

This paper aims to propose a novel real-time three-dimensional (3D) model-based work-piece tracking method with monocular camera for high-precision assembly. Tracking of 3D work-pieces with real-time speed is becoming more and more important for some industrial tasks, such as work-pieces grasping and assembly, especially in complex environment.

Design/methodology/approach

A three-step process method was provided, i.e. the offline static global library generation process, the online dynamic local library updating and selection process and the 3D work-piece localization process. In the offline static global library generation process, the computer-aided design models of the work-piece are used to generate a set of discrete two-dimensional (2D) hierarchical views matching libraries. In the online dynamic library updating and selection process, the previous 3D location information of the work-piece is used to predict the following location range, and a discrete matching library with a small number of 2D hierarchical views is selected from dynamic local library for localization. Then, the work-piece is localized with high-precision and real-time speed in the 3D work-piece localization process.

Findings

The method is suitable for the texture-less work-pieces in industrial applications.

Originality/value

The small range of the library enables a real-time matching. Experimental results demonstrate the high accuracy and high efficiency of the proposed method.

Keywords

Acknowledgements

This work was supported in part by the National Natural Science Foundation of China under Grants 61379097, 61210009, 61627808, 91648205, in part by the Strategic Priority Research Program of the CAS (Grant XDB02080003) and in part by the Beijing Municipal Science and Technology Grants D16110400140000 and D161100001416001.

Citation

Zhu, W., Wang, P., Li, R. and Nie, X. (2017), "Real-time 3D work-piece tracking with monocular camera based on static and dynamic model libraries", Assembly Automation, Vol. 37 No. 2, pp. 219-229. https://doi.org/10.1108/AA-02-2017-018

Publisher

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Emerald Publishing Limited

Copyright © 2017, Emerald Publishing Limited

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