Model-Based Visual Feature Tracking for Assembly
نویسندگان
چکیده
Visual tracking is applicable to many tasks in robotic assembly and inspection, including peg-in-hole insertion , alignment of parts, and gaze control. A fast, robust, hybrid approach to feature tracking is presented. Rotation-compensated normalized cross-correlation is used to handle large rotations. Adaptive templates allow for some changes in lighting and background. The tracking system runs at 8Hz. and is demonstrated in a peg-in-hole insertion task.
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