REALIZATION OF COLOR-VISION BASED POSEAND POSITION CONTROL OF A 4-DOF OBJECT

摘要：

In this paper, a real-time pose and position control scheme for a 4-DOF object is proposed that can be implemented by the following steps: at first, three iden-tical color tags are attached to the object beforehand; secondly, acolor CMOS camera is used to obtain the image of the object and the three color tags in real time, during the processing of each image, the three color tags are identified and separated in order to obtain the lo-cation of each one’s projection to the image; at last, the distribution of the three color tags in the image is analyzed to estimate the current pose and position of the object and to determine the control inputs. The experimental results indicate that the control scheme is effective and robust with low computation complexity.

关键词： Pose and position Color model Segmentation Grid scanning

作者: Jia Liu Yingmin Jia Na Ni

作者单位: The Seventh Research Division,Beihang University (BUAA),Beijing

会议类型: 国际会议

会议名称: 2008年拟人系统国际会议(2008 International Conference on Humanized Systems )(ICHS’08)

会议地点: 北京

会议语种:英文

在线出版日期: 2008-10-18（万方平台首次上网日期，不代表论文的发表时间）