Depth estimation of objects with known geometric model for IBVS using an eye-in-hand camera

Ju Feng Wu, Ming Yang Cheng

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

One of the most crucial and challenging issues in Image-Based Visual Servoing (IBVS) is the derivation of accurate depth information of feature points, which is indispensable in the calculation of the image Jacobian. For an object without a known geometric model, it is difficult to retrieve the depth information of feature points using a single camera. However, in many application scenarios such as industrial manufacturing processes, geometric models of artificial objects such as polyhedrons are known in advance. As a result, this paper aims at developing an estimation algorithm that can be used to retrieve the depth information of an object with a known geometric model. Several computer simulations and real experiments have been conducted to verify the effectiveness of the proposed depth estimation algorithm. In addition, a 6-DOF industrial robot is used to perform an eye-in-hand IBVS task with the aid of the proposed depth estimation algorithm.

Original languageEnglish
Title of host publication2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Print)9781538624197
DOIs
Publication statusPublished - 2018 Feb 20
Event2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017 - Taipei, Taiwan
Duration: 2017 Sep 62017 Sep 8

Publication series

NameInternational Conference on Advanced Robotics and Intelligent Systems, ARIS
Volume2017-September
ISSN (Print)2374-3255
ISSN (Electronic)2572-6919

Other

Other2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017
CountryTaiwan
CityTaipei
Period17-09-0617-09-08

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Artificial Intelligence

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  • Cite this

    Wu, J. F., & Cheng, M. Y. (2018). Depth estimation of objects with known geometric model for IBVS using an eye-in-hand camera. In 2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017 [8297195] (International Conference on Advanced Robotics and Intelligent Systems, ARIS; Vol. 2017-September). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ARIS.2017.8297195