Virtual Visual Servoing for Real-Time Robot Pose Estimation
نویسندگان
چکیده
منابع مشابه
Virtual Visual Servoing for Real-Time Robot Pose Estimation
We propose a system for markerless pose estimation and tracking of a robot manipulator. By tracking the manipulator, we can obtain an accurate estimate of its position and orientation necessary in many object grasping and manipulation tasks. Tracking the manipulator allows also for better collision avoidance. The method is based on the notion of virtual visual servoing. We also propose the use ...
متن کاملVirtual Visual Servoing: a framework for real-time augmented reality
This paper presents a framework to achieve real-time augmented reality applications. We propose a framework based on the visual servoing approach well known in robotics. We consider pose or viewpoint computation as a similar problem to visual servoing. It allows one to take advantage of all the research that has been carried out in this domain in the past. The proposed method features simplicit...
متن کاملReal-time Visual Servoing
This paper describes a new real-time tracking algorithm in conjunction with a predictive filter to allow real-time visual servoing of a robotic arm that is following a moving object. The system consists of two calibrated (but unregistered) cameras that provide images to a real-time, pipelined-parallel optic-flow algorithm that can robustly compute optic-flow and calculate the 3-D position of a ...
متن کاملRange and Pose Estimation for Visual Servoing of a Mobile Robot
This paper describes the implementation of behaviour for real-time visual servoing on a mobile robot. The behaviour is a component of a multi-robot cleaning system developed in the context of our investigation into architectures for cooperative systems. An important feature for support of cooperation is the awareness of one robot by another, which this behaviour realises. Robust feature trackin...
متن کاملVisual Servoing for Robot Navigation
This paper presents an integrated visual servoing system for robot navigation. This system is able to pursue a moving object by controlling a camera mounted on a pan/tilt head, so that the moving object is maintained in the center of the image. The visual system has four capabilities: the target detection, the target motion model online identification, camera control for target tracking and tar...
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: IFAC Proceedings Volumes
سال: 2011
ISSN: 1474-6670
DOI: 10.3182/20110828-6-it-1002.02970