多指ハンドの掌に搭載されたカメラによる操作対象の計測

抄録

We describe a real-time vision system to measure the pose of an object grasped by a multi-fingered hand. The system consists of two sets of stereo cameras; one is mounted on the palm of the hand, and another is mounted outside the hand. This system solves the problem that the grasped object is partially visually occluded by fingers or other objects, and also improves the accuracy of pose estimation.