3-D Visual Servoing Using Feedforward Evolutionary Recognition
نویسندگان
چکیده
منابع مشابه
2½D visual servoing
In this paper, we propose a new approach to visionbased robot control, called 2-1/2-D visual servoing, which avoids the respective drawbacks of classical position-based and imagebased visual servoing. Contrary to the position-based visual servoing, our scheme does not need any geometric three-dimensional (3-D) model of the object. Furthermore and contrary to imagebased visual servoing, our appr...
متن کاملRobust visual servoing in 3-D reaching tasks
This paper describes a novel approach to the problem of reaching an object in space under visual guidance. The approach is characterized by a great robustness to calibration errors, such that virtually no calibration is required. Servoing is based on binocular vision: a continuous measure of the end-effector motion field, derived from real-time computation of the binocular optical flow over the...
متن کاملPosition-based Visual Servoing to 3D Pose with Feedforward Compensation
This paper deals with position-based 6-DoF visual servoing. With a common sense of feedback control, we stress that improvement of the dynamics of the sensing feedback unit is important for a stable visual servoing system. We propose a method to improve dynamics in visual recognition of model-based matching, with the on-line matching compensating the fictional motion of the target in the hand-e...
متن کاملAutonomous 3-D positioning of surgical instruments in robotized laparoscopic surgery using visual servoing
This paper presents a robotic vision system that automatically retrieves and positions surgical instruments during robotized laparoscopic surgical operations. The instrument is mounted on the end-effector of a surgical robot which is controlled by visual servoing. The goal of the automated task is to safely bring the instrument at a desired three-dimensional location from an unknown or hidden p...
متن کاملVisual Servoing Using Projective Kinematics
This paper presents a new approach to controlling a robot from video-feedback. In contrast to classical approaches, the entire system is modeled by means of projective geometry. For the robot’s geometry in particular, we introduce a new formalism “projective kinematics”. As a result, motions in jointand image-space can be related without metric calibration, and a corresponding visual control la...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2010
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.28.591