Abstract
This paper describes a method for automated estimation of three-dimensional pose (position and orientation) of objects using multiple ID devices such as radio frequency identification (RFID) devices read by autonomous robots. Robots achieve tasks based on the task information acquired from ID devices attached to the object. To acquire IDs from ID devices using an ID reader, a motion generation for acquisition of IDs is required; the ID devices must be within the detection range of the ID reader. The paper focuses on a method for acquiring pose data of an object by controlled motion of the stereo vision ID reader which detects the ID devices on the object. The data is then processed using a 3D geometric model. We show the feasibility of the method through an experiment for estimation of object pose.
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