An Eye-in-Hand Stereo Visual Servoing for Tracking and Catching Moving Objects
In this paper an image-based eye-in-hand stereo visual servoing system is proposed to perform a task of tracking and catching a moving object in real time.The presented method utilizes the conventional image based visual servoing algorithm for a stereo vision system mounted on the end-effector of 6 degrees of freedom(DOF)robot.In order to estimate the object motion trajectory in two dimensional image planes and predict the future positions,a Kalman filter with a linear model of the moving object and also an extended Kalman filter(EKF)with a non-linear model are employed.The procedure of tracking and catching a moving object is simulated and implemented based on a 6 DOF DENSO 6242G robot.Both simulation and experimental results are presented to verify the effectiveness of the proposed methods.The comparison with the case of a monocular image-based system is carried out.
Stereo Visual Servoing monocular eye-in-hand Image-based depth estimation trajectory estimation Kalman filter
Abolfazl Mohebbi Mohammad Keshmiri Wen Fang Xie
Polytechnique Montreal,Department of Mechanical Engineering,Montreal,H3T 1J4 Concordia University,Department of Mechanical and Industrial Engineering,Montreal,H3G 1M8
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
8570-8577
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）