Autonomous recognition of multiple cable topology with image

Rei Fujiki, Hideyuki Tanaka, Yoshinobu Kawahara, Takehisa Yairi, Kazuo Machida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

From industrial situation to ordinary life, there are a lot of cables in today's society. There, however, are not many studies that describe the topological relationship between multibple cables for autonomous operation of robotics device. In this paper, an autonomous computing way to create 3-D topological model of multiple cables using image is discussed. Cable model is described by probablity density function and optimized its parameters via EM Algorithm, that indicates the configuration and topological relationships. In order to manipulate the object cables then, depth from sensor to points are added to the unique points in topological graph structure derived from EM model. The quantitative results of basic experiment that was aimed to prove the recognition possibility via the algorithm are reported.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Pages1425-1430
Number of pages6
DOIs
Publication statusPublished - Dec 1 2006
Externally publishedYes
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: Oct 18 2006Oct 21 2006

Publication series

Name2006 SICE-ICASE International Joint Conference

Other

Other2006 SICE-ICASE International Joint Conference
CountryKorea, Republic of
CityBusan
Period10/18/0610/21/06

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Fujiki, R., Tanaka, H., Kawahara, Y., Yairi, T., & Machida, K. (2006). Autonomous recognition of multiple cable topology with image. In 2006 SICE-ICASE International Joint Conference (pp. 1425-1430). [4109191] (2006 SICE-ICASE International Joint Conference). https://doi.org/10.1109/SICE.2006.315754