Method for estimating the pose of a robotic arm using a camera and calibration pattern
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68145535%3A_____%2F25%3A00638562" target="_blank" >RIV/68145535:_____/25:00638562 - isvavai.cz</a>
Alternative codes found
RIV/61989100:27240/25:10258036
Result on the web
<a href="https://doi.org/10.1016/j.asej.2025.103525" target="_blank" >https://doi.org/10.1016/j.asej.2025.103525</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.asej.2025.103525" target="_blank" >10.1016/j.asej.2025.103525</a>
Alternative languages
Result language
angličtina
Original language name
Method for estimating the pose of a robotic arm using a camera and calibration pattern
Original language description
Industrial robots are a key component of Industry 4.0, yet accurately estimating their pose remains challenging- especially when determining the spatial relationship between the tool center point (TCP) and the working space. This study presents a hybrid pose estimation method that leverages an industrial camera mounted on a robotic arm's effector and a calibration pattern positioned within the working frame. To solve the resulting optimization problem, the method integrates Newton's method with a neural network (NN) pre-trained on a full camera model. Comparative experiments with state-of-the-art optimization techniques show that the proposed approach achieves superior performance in terms of both accuracy and speed. Specifically, it yields a mean position error of 0.5 mm and a mean angle error of 0.31 degrees, with a computation time of 0.14 ms. These results suggest that the method offers an efficient and accurate alternative for camera-based pose estimation in industrial settings.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
—
OECD FORD branch
10102 - Applied mathematics
Result continuities
Project
<a href="/en/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Research Centre of Advanced Mechatronic Systems</a><br>
Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2025
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Ain Shams Engineering Journal
ISSN
2090-4479
e-ISSN
2090-4495
Volume of the periodical
16
Issue of the periodical within the volume
9
Country of publishing house
NL - THE KINGDOM OF THE NETHERLANDS
Number of pages
13
Pages from-to
103525
UT code for WoS article
001513404000002
EID of the result in the Scopus database
2-s2.0-105007532866