On-line motion-feedforward pose recognition invariant For dynamic hand-eye motion

Wei Song; Mamoru Minami

doi:10.1109/AIM.2008.4601806

On-line motion-feedforward pose recognition invariant For dynamic hand-eye motion

Wei Song, Mamoru Minami

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

This paper presents a pose measurement method of a 3D object detected by hand-eye cameras. We propose a motion-feedforward (MFF) method to improve visual recognition dynamics, which become worse by disturbing hand-eye motion during visual servoing of the robot manipulator. The MFF method is used to compensate the fictional target motions in the camera view Induced by the end-effctor's motion, so the pose recognition can be assumed invariant for dynamic hand-eye motion. The effectiveness of the proposed method is confirmed by simulations of object's 3D pose recognition being affected by dynamical oscillations of hand-eye cameras.

Original language	English
Title of host publication	Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
Pages	1047-1052
Number of pages	6
DOIs	https://doi.org/10.1109/AIM.2008.4601806
Publication status	Published - 2008
Externally published	Yes
Event	2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008 - Xi'an, China Duration: Aug 2 2008 → Aug 5 2008

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other	2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
Country/Territory	China
City	Xi'an
Period	8/2/08 → 8/5/08

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/AIM.2008.4601806

Cite this

Song, W., & Minami, M. (2008). On-line motion-feedforward pose recognition invariant For dynamic hand-eye motion. In Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008 (pp. 1047-1052). Article 4601806 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2008.4601806

On-line motion-feedforward pose recognition invariant For dynamic hand-eye motion. / Song, Wei; Minami, Mamoru.
Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008. 2008. p. 1047-1052 4601806 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Song, W & Minami, M 2008, On-line motion-feedforward pose recognition invariant For dynamic hand-eye motion. in Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008., 4601806, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, pp. 1047-1052, 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008, Xi'an, China, 8/2/08. https://doi.org/10.1109/AIM.2008.4601806

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On-line motion-feedforward pose recognition invariant For dynamic hand-eye motion

Abstract

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