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Fig. 6.11
Industrial robot grasping a cable. (
a
) The pose of the cable is estimated based on trinoc-
ular image data acquired with a Digiclops system (
1
). The image of the bar code is taken by a
monocular camera (
2
). (
b
) The bar code cannot be read due to the cable partially occluding it.
(
c
) The three-dimensional pose of the cable is estimated. (
d
) The robot grasps the cable and holds
it aside. (
e
) Now the bar code can be read. (
f
) The robot places the cable back into its original
position
Fig.
6.11
d. For this purpose, the robot needs to be calibrated with respect to the
coordinate system of the trinocular camera. In the image of the monocular cam-
era, the bar code is now unoccluded and can be read (cf. Fig.
6.11
e). Finally, the
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