Real-time Visual Recovery of Pose using Line Tracking in Multiple Cameras

This paper describes a system for the recovery in real-time of the pose of moving polyhedral objects using modest hardware. A method of line tracking first introduced by Harris is extended to multiple calibrated cameras, and afforced by robust methods and filtering. The system, which uses three cameras a low-end commercial framegrabber and runs on single PC, has been devised to provide simple visual feedback for the tele-operator of a force reflecting robot manipulator. Experimental results are given which demonstrate the accuracy of the vision system.