Pose Estimation of Excavator Manipulator

Pose Estimation of Excavator Manipulator

Stacked Hourglass Networks for Markerless Pose Estimation

Sep 27, 2016 · Then, the trained neural network can estimate the position of the excavator manipulator in real time. To study the feasibility of the proposed system, a webcam is used to capture images of an excavator simulation model and the captured images are used to train a neural network. The simulation results show that the developed neural network-based …

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Pose Estimation of Excavator Manipulator Based on

Jun 30, 2021 · automatically estimate the excavator pose by detecting the marker installed on the exca- vator, which consisted of a marker with significant r esistance to occlusion and a common monocular camera.

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A Review of Extra-Terrestrial Regolith Excavation Concepts

Top Robotic Technical Challenges* Object Recognition and Pose Estimation Fusing vision, tactile and force control for manipulation Achieving human-like performance for piloting vehicles Access to extreme terrain in zero, micro and reduced gravity Grappling and anchoring to asteroids and non cooperating objects Exceeding human-like dexterous manipulation

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Pose Estimation of Excavator Manipulator Based on

Based on computer vision (CV) technology, an approach, through a monocular camera and marker, was proposed to estimate the pose parameters (including orientation and position) of the excavator manipulator. To simulate the pose estimation process, a measurement system was established with a common camera and marker.

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End-Effector Pose Estimation in Complex Environments Using

Redundant manipulators are suitable for working in narrow and complex environments due to their flexibility. However, a large number of joints and long slender links make it hard to obtain the accurate end-effector pose of the redundant manipulator directly through the encoders. In this paper, a pose estimation method is proposed with the fusion of vision sensors, inertial …

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Analysis of the Position Recognition of the Bucket Tip

May 19, 2020 · The IMU and draw-wire sensors measured the pose information for the poses in Figure 12 A–D and then the logged data were calibrated to synchronize the initial and final points by inserting the offset value. This processed data were finally applied to the derived equations to estimate the end-point of the excavator.

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Vision-based estimation of excavator manipulator pose for

Sep 16, 2016 · Manipulator position sensing is a key issue in the study of hydraulic excavator automation. A neural network-based computer vision system was designed using MathWorks ' MATLAB neural network toolbox and used to estimate the boom, arm, and bucket cylinder displacements of an excavator manipulator during a grading operation simulation. A computer …

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The visual fiducial based pose estimation of mobile

Jul 22, 2021 · The accurate estimation of the end-effector's pose in large operating spaces is the key for the mobile manipulator to realize efficient manufacturing of large and complex components. We propose a novel pose tracking method in large-range using visual fiducial markers, and further propose the layout optimization method for the encoded fiducial markers. …

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Excavator Research Papers - Academia.edu

The proposed method was validated at a mock urban disaster site where two excavators were teleoperated to pick up and move various debris. A 3D workspace model was constructed by laser scanning which was able to estimate the positions of …

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A Review of Extra-Terrestrial Regolith Excavation Concepts

Top Robotic Technical Challenges* Object Recognition and Pose Estimation Fusing vision, tactile and force control for manipulation Achieving human-like performance for piloting vehicles Access to extreme terrain in zero, micro and reduced gravity Grappling and anchoring to asteroids and non cooperating objects Exceeding human-like dexterous manipulation

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DOPE: distillation of part experts for whole-body 3D pose

Aug 21, 2020 · DOPE is the first learning-based method to detect and estimate whole-body 3D human poses in the wild, and includes 2D and 3D key points for the body, hands and face. We successfully overcame the lack of training data that is available for this task by leveraging distillation from part experts to our whole-body network.

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Vision-Based Articulated Machine Pose Estimation for

ability to automatically and accurately estimate the pose of an articulated machine (e.g., excavator or backhoe). The pose here includes the position and orientation of not only the machine base (e.g., tracks or wheels), but also each of its major articulated components (e.g., stick and bucket). When a construction machine can continuously track

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(PDF) Pose Estimation of Excavator Manipulator Based on

adshelp[at]cfa.harvard.edu The ADS is operated by the Smithsonian Astrophysical Observatory under NASA Cooperative Agreement NNX16AC86A

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Pose estimation of excavators - NASA/ADS

In current pose estimation studies, bottom-up approaches estimating the pose from detected parts of the bodies and their relations have been major methods. This approach enabled us fast and accurate pose estimation. In other hands, there are many fields that the pose estimation could be applied. In this paper, we propose a bottom-up method for excavator pose estimation.

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Geographical Positional and Predictive Accuracy of a

Excavators with machine control, guidance, and/or extra systems for expressing the environment have recently increased the efficiency of construction/Mining sites. The most important aspect of the aforementioned procedures is the precise estimation of the excavator's end-point using the suitable sensing equipment.

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Pose estimation of excavators - spiedigitallibrary.org

Jun 01, 2020 · In current pose estimation studies, bottom-up approaches estimating the pose from detected parts of the bodies and their relations have been major methods. This approach enabled us fast and accurate pose estimation. In other hands, there are many fields that the pose estimation could be applied. In this paper, we propose a bottom-up method for excavator pose …

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Vision-based estimation of excavator manipulator pose for

Feb 01, 2019 · A combination of inertial measurement units (IMUs) and extended Kalman filters (EKFs) on the upper carriage was used to estimate the manipulator pose of a mini excavator by measuring acceleration, angular rate, and magnetic field . Realtime location systems (RTLS) were also used to determine the pose of a manipulator . The RTLS continuously provides the …

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[PDF] Vision-based articulated machine pose estimation for

The pose of an articulated machine includes the position and orientation of not only the machine base (e.g., tracks or wheels), but also each of its major articulated components (e.g., stick and bucket). The ability to automatically estimate this pose is a crucial component of technical innovations aimed at improving both safety and productivity in many construction tasks.

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Ch. 4 - Geometric Pose Estimation

Geometric Pose Estimation. In the last chapter, we developed an initial solution to moving objects around, but we made one major assumption that would prevent us from using it on a real robot: we assumed that we knew the initial pose of the object. This chapter is going to be our first pass at removing that assumption, by developing tools to

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Stacked Hourglass Networks for Markerless Pose Estimation

The preliminary results show that the marker-less method is capable of estimating the pose of the excavator based on a state-of-the-art human pose estimation algorithm.}, journal = {35th International Symposium on Automation and Robotics in Construction}, author = {Liang, C. J. and Lundeen, K. M. and McGee, W. and Menassa, C. C. and Lee, S. and

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