Rubik’s Cube Reconstruction from Single View for Service Robots
نویسنده
چکیده
Rubik’s cube puzzle is considered to be a benchmark for service robots. In such an application a computer vision subsystem is required in order to locate the object in space and to determine the configuration of its color cells. In this paper a robust algorithm for Rubik cube reconstruction form a single view in real time is shown. Special interest was in getting a balance between quality of results and computational complexity of the algorithm.
منابع مشابه
Rubik’s Cube Puzzle as a Benchmark for Service Robots
This paper describes Rubik’s cube manipulation as an example of highly demanding benchmark task for two-handed service robot. Vision is used both for acquiring the cube (servoing) and identifying its initial configuration. During two-handed manipulation force/torque measurements are used to prevent jamming of the cube. Rubik’s cube solver, nominal trajectory generation, visual servoing, and pos...
متن کاملRubik's cube as a benchmark validating MRROC++ as an implementation tool for service robot control systems
Purpose – This paper seeks to develop universal software (a programming framework) enabling the implementation of service robot controllers. The software should distinguish the hardware-oriented part of the system from the task-oriented one. Moreover, force, vision as well as other sensors should be taken into account. Multi-effector systems have to be considered. Design/methodology/approach – ...
متن کاملThe Group Structure of the Rubik’s Cube
The Rubik’s Cube is a familiar toy that has embedded itself into popular culture since its invention in 1974 by Ernő Rubik. It is especially popular among mathematicians, for good reason. In this paper, we will investigate some of the interesting mathematical structure underlying the Rubik’s Cube, which was documented by David Joyner in his book, Adventures in Group Theory [Joy]. Let us conside...
متن کاملAlgorithms for Solving Rubik's Cubes
The Rubik’s Cube is perhaps the world’s most famous and iconic puzzle, well-known to have a rich underlying mathematical structure (group theory). In this paper, we show that the Rubik’s Cube also has a rich underlying algorithmic structure. Specifically, we show that the n×n×n Rubik’s Cube, as well as the n×n×1 variant, has a “God’s Number” (diameter of the configuration space) of Θ(n/ logn). ...
متن کاملGroup Theory and the Rubik’s Cube
The Rubik’s Cube is a well known puzzle that has remarkable group theory properties. The objective of this project is to understand how the Rubik’s Cube operates as a group and explicitly construct the Rubik’s Cube Group.
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2006