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

Ju Feng Wu, Ming Yang Cheng

研究成果: Conference contribution

1 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017
發行者Institute of Electrical and Electronics Engineers Inc.
ISBN(列印)9781538624197
DOIs
出版狀態Published - 2018 二月 20
事件2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017 - Taipei, Taiwan
持續時間: 2017 九月 62017 九月 8

出版系列

名字International Conference on Advanced Robotics and Intelligent Systems, ARIS
2017-September
ISSN(列印)2374-3255
ISSN(電子)2572-6919

Other

Other2017 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2017
國家/地區Taiwan
城市Taipei
期間17-09-0617-09-08

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 人工智慧

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