Composite visual servoing for catching a 3-D flying object using RLS trajectory estimation from a monocular image sequence

Research output: Contribution to conferencePaperpeer-review

4 Citations (Scopus)

Abstract

Online coordination of visual information with slow speed manipulator control is studied in the specific task of three dimensional robotic catching using position based visual servoing. The problem involves the design and application of a recursive algorithm to extract and predict the position of an object in a 3D environment from one feature correspondence from a monocular image sequence. The measured data are the noisy image plane coordinates of object match taken from image in the sequence. Image plane noise levels are allowed and investigated. The target trajectory estimation is formulated as a tracking problem, which can use an arbitrary large number of images in a sequence and is done using Recursive Least Squares (RLS). The feasibility of our methods for catching are demonstrated by both simulations and experiments using a a real-time vision system and a six-degree-of-freedom robotic arm with speed capabilities of up to 1.0 m/s.

Original languageEnglish
Pages526-531
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 1
Event2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2009 - Daejeon, Korea, Republic of
Duration: 2009 Dec 152009 Dec 18

Other

Other2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2009
CountryKorea, Republic of
CityDaejeon
Period09/12/1509/12/18

ASJC Scopus subject areas

  • Computational Mathematics

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