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

R. Herrejon, S. Kagami, K. Hashimoto

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

5 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. Target translational model involves an object moving in a parabolic path using projectile physics. A state-space model is constructed incorporating kinematic states, and recursive techniques are used to estimate the state vector as a function of time. 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). Results 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
Title of host publication2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages665-670
Number of pages6
DOIs
Publication statusPublished - 2009
Event2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China
Duration: 2009 Dec 192009 Dec 23

Publication series

Name2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Other

Other2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Country/TerritoryChina
CityGuilin
Period09/12/1909/12/23

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Biomaterials

Fingerprint

Dive into the research topics of 'Position based visual servoing for catching a 3-D flying object using RLS trajectory estimation from a monocular image sequence'. Together they form a unique fingerprint.

Cite this