Object tracking has become really important in the field of robotics in the last years. Frequently, the goal is to obtain the trajectory of the tracked target over time and space by acquiring and processing information from the sensors. In this thesis we are interested in tracking objects at a very short range. The primary application of our approach is targeting the domain of object tracking during grasp execution with a hand-in-eye sensor setup. To this end, a promising approach investigated in this work is based on the Leap Motion sensor, which is designed for tracking human hands. However, we are interested in tracking grasped objects thus we need to extend its functionality. The main goal of the thesis is to track the 3D position and orientation of an object from a set of simple primitives (cubes, cylinders, triangles) over a video sequence. That is the reason we have designed and developed two different approaches for tracking objects with the Leap Motion device as stereo vision system.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:oru-45442 |
| Date | January 2015 |
| Creators | Rivas Diaz, Juan Manuel |
| Publisher | Örebro universitet, Institutionen för naturvetenskap och teknik |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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