Abstract
In this paper, we propose an algorithm for estimating position and orientation of an object grasped by a robot hand. The number of vertexes required to estimate the orientation is clarified by adopting elements of a rotation matrix as parameters of the orientation. The estimation process is as follows. The estimation problem is formulated as a problem of getting a rotation matrix that minimizes the error norm. A maximization problem of a function with two variables is derived from the minimization problem. It is difficult to solve the maximization problem analytically, but the function has unimodality. Hence, the maximization problem can be easily computed using a direct detection method. And initial estimated values are not needed.
