On-line stable evolutionary recognition by quaternion motion-feedforward compensation

Wei Song; Mamoru Minami; Yasushi Mae; Seiji Aoyagi

doi:10.1109/SICE.2007.4421134

On-line stable evolutionary recognition by quaternion motion-feedforward compensation

Wei Song, Mamoru Minami, Yasushi Mae, Seiji Aoyagi

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

Abstract

This paper presents a pose measurement method of a 3D object. The proposed method utilizes an evolutionary search technique of a genetic algorithm (GA) and a fitness evaluation based on a matching stereo model whose pose is expressed by unit quaternion. To improve the dynamics of recognition, a motion-feedforward compensation method is proposed for the hand-eye system. The effectiveness of the proposed method is confirmed by simulation experiments.

Original language	English
Title of host publication	SICE Annual Conference, SICE 2007
Pages	1023-1030
Number of pages	8
DOIs	https://doi.org/10.1109/SICE.2007.4421134
Publication status	Published - 2007
Externally published	Yes
Event	SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan Duration: Sept 17 2007 → Sept 20 2007

Publication series

Name	Proceedings of the SICE Annual Conference

Other

Other	SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
Country/Territory	Japan
City	Takamatsu
Period	9/17/07 → 9/20/07

Keywords

3D pose measurement
GA
Motion-feedforward compensation

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/SICE.2007.4421134

Cite this

Song, W, Minami, M, Mae, Y & Aoyagi, S 2007, On-line stable evolutionary recognition by quaternion motion-feedforward compensation. in SICE Annual Conference, SICE 2007., 4421134, Proceedings of the SICE Annual Conference, pp. 1023-1030, SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007, Takamatsu, Japan, 9/17/07. https://doi.org/10.1109/SICE.2007.4421134

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AB - This paper presents a pose measurement method of a 3D object. The proposed method utilizes an evolutionary search technique of a genetic algorithm (GA) and a fitness evaluation based on a matching stereo model whose pose is expressed by unit quaternion. To improve the dynamics of recognition, a motion-feedforward compensation method is proposed for the hand-eye system. The effectiveness of the proposed method is confirmed by simulation experiments.

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T3 - Proceedings of the SICE Annual Conference

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T2 - SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007

Y2 - 17 September 2007 through 20 September 2007

ER -

On-line stable evolutionary recognition by quaternion motion-feedforward compensation

Abstract

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Keywords

ASJC Scopus subject areas

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