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Simulation of Visual Servoing Control and Performance Tests of 6R Robot Using Image-Based and Position-Based Approaches [chapter]

M. H., F. S.
2007 Vision Systems: Applications  
The later chapters deal with applications of vision in mobile robot navigation, camera calibration, object detection in vision search, map building, etc.  ...  Hard cover, 608 pages Publisher I-Tech Education and Publishing Computer Vision is the most important key in developing autonomous navigation systems for interaction with the environment.  ...  For a robot with a camera mounted on its end effector the viewpoint and hence the features of images are functions of the relative pose of the camera and the target-object.  ... 
doi:10.5772/4991 fatcat:i6b4fvapfvfdza66crkvxfzugi

Dynamic-scene and motion analysis using passive sensors I. A qualitative approach

B. Bhanu, R. Nevatia, E.M. Riseman
1992 IEEE Expert  
component of visual information processing whenever moving objects are encountered in the environment. To act intelli-~ 46 ~ ~~~  ...  Dynamic-scene and motion analysis uses information from a sequence of images obtained from a moving sensor; for example, a forward-looking video camera rigidly mounted on an autonomous mobile robot.  ...  TO ESTIMATE ROBOT MOTION FROM VISUAL CUES, DETECT AND TRACK M O m G OBJECTS, AND CONSTRUCT AND M A m m A GLOBAL DYNAMIC REFERENCE MODEL. ' to surfaces that might not be suitable for active ranging.  ... 
doi:10.1109/64.120687 fatcat:hlwlg2a7hndm5cmymuou65pvju

Special issue on Robot Vision

2013 The international journal of robotics research  
Of course for robotic vision we have also seen many papers with a strong control focus and also a focus on high-speed operation.  ...  Motions are so fast that motion blur, caused by relative motion between the camera and an object, would prevent any possibility of scene interpretation.  ... 
doi:10.1177/0278364913484107 fatcat:5ne2ajnlfvf4rj277mzscwn5xm

Special Issue on Robot Vision

Jana Košecká, Eric Marchand, Peter Corke
2015 The international journal of robotics research  
Of course for robotic vision we have also seen many papers with a strong control focus and also a focus on high-speed operation.  ...  place recognition and the fusion of vision with other sensors, most notably inertial sensors.  ...  Motions are so fast that motion blur, caused by relative motion between the camera and an object, would prevent any possibility of scene interpretation.  ... 
doi:10.1177/0278364915574960 fatcat:tjdlotredzddbi6mtsn34urkay

Near range path navigation using LGMD visual neural networks

Shigang Yue, F. Claire Rind
2009 2009 2nd IEEE International Conference on Computer Science and Information Technology  
The outputs from the two LGMDs are compared and translated into executable motor commands to control the wheels of the robot in real time.  ...  in this paper, we proposed a method for near range path navigation for a mobile robot by using a pair of biologically inspired visual neural network -lobula giant movement detector (LGMD).  ...  We feed the pair of LGMDs with input images from a panoramic visual camera and integrate the vision system with the real time control system of a mobile robot through a motor system.  ... 
doi:10.1109/iccsit.2009.5234439 fatcat:72zw6uxvjjb4zbfurr2bwx5uwq

Dynamic vision for precise depth measurement and robot control

Volker Graefe, Klaus P. Wershofen, Johannes Huber, Donald W. Braggins
1993 Computer Vision for Industry  
Dynamic vision is a powerful and effective sensing modality for a broad variety of numerous industrial applications. Two of them will be introduced as examples.  ...  One, relates to a novel implementation of motion stereo allowing precise distance measurements by a moving robot in real time with an uncalibrated camera.  ...  By equipping the mobile robot with a dynamic vision system based on object-oriented vision the performance of the system, especially the speed of a robot, is mainly limited by the dynamics of the robot  ... 
doi:10.1117/12.164857 fatcat:dpe6eepvcbgwbpxbwboopcjdgy

Applying High-Speed Vision Sensing to an Industrial Robot for High-Performance Position Regulation under Uncertainties

Shouren Huang, Niklas Bergström, Yuji Yamakawa, Taku Senoo, Masatoshi Ishikawa
2016 Sensors  
The main robot only focuses on fast and coarse motion, with its trajectories automatically planned by image information from a static low-cost camera.  ...  The add-on module consists of a 1000 Hz vision sensor and a high-speed actuator to compensate for accumulated uncertainties.  ...  Moreover, although several robust and adaptive control approaches have been proposed (e.g., [3] ) for direct control of robots with uncertain kinematics and dynamics, we note the advantages of our method  ... 
doi:10.3390/s16081195 pmid:27483274 pmcid:PMC5017361 fatcat:4xsj3uglvrbm5f52s6jal4xjam

Optimal Image-Based Guidance of Mobile Manipulators using Direct Visual Servoing

Álvaro Belmonte, José L. Ramón, Jorge Pomares, Gabriel J. Garcia, Carlos A. Jara
2019 Electronics  
An eye-in-hand camera is employed to perform theguidance of a mobile differential platform with a seven degrees-of-freedom robot arm.  ...  This paper presents a direct image-based controller to perform the guidance of a mobilemanipulator using image-based control.  ...  A task-space sensing and control system designed to control the end effector motion of a mobile manipulator in the presence of dynamic and unknown base motion is proposed in [14] .  ... 
doi:10.3390/electronics8040374 fatcat:qufi3ezbuncjvjkwenasfgwzue

Special Issue on Robot Vision

Kazunori Umeda
2003 Journal of Robotics and Mechatronics  
Robot vision is an essential key technology in robotics and mechatronics. The number of studies on robot vision is wide-ranging, and this topic remains a hot vital target.  ...  This issue also presents two news briefs, one on a practical range sensor suited to mobile robots and the other on vision devices that are the improved ones of famous IP-5000 series.  ...  Motions are so fast that motion blur, caused by relative motion between the camera and an object, would prevent any possibility of scene interpretation.  ... 
doi:10.20965/jrm.2003.p0253 fatcat:u46ey4aqbfb7leiimgnw45ggye

Visually stimulated motor control for a robot with a pair of LGMD visual neural networks

Shigang Yue, F. Claire Rind
2012 International Journal of Advanced Mechatronic Systems  
Inspired from a locusts' motion sensitive interneuron -lobula giant movement detector (LGMD), the presented VSMC system enables a robot exploring local paths or interacting with dynamic objects effectively  ...  in this paper, we proposed a visually stimulated motor control (VSMC) system for autonomous navigation of mobile robots.  ...  The support from EU FP7 project EYE2E (269118), LIVCODE (295151), and HAZCEPT (318907) is appreciated.  ... 
doi:10.1504/ijamechs.2012.052219 fatcat:k7myvk4uxjbd7kmicwuh2rei34

A study on robust feedback control for dual-arm robot system

Woo-Song Lee, Se-Bong Oh, Dong-Jin Cha, Jong-Boong Lee, Sung-Hyun Han, Dong-Joo Park
2007 2007 International Conference on Control, Automation and Systems  
In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision.  ...  It has much in common with research into active vision and structure from motion, but is quite different from the often described use of vision in hierarchical task-level robot control systems.  ...  ACKNOWLEDGEMENTS This research was supported by the New University for Regional Innovation program of the Ministry of Education & Human Resources Development (NURI MECHANO 21).  ... 
doi:10.1109/iccas.2007.4406710 fatcat:ybi5t7aixzaq3af2awkptyp6ia

Survey of Visual and Force/Tactile Control of Robots for Physical Interaction in Spain

Gabriel Garcia, Juan Corrales, Jorge Pomares, Fernando Torres
2009 Sensors  
The robotic controllers which process and analyze this sensory information are usually based on three types of sensors (visual, force/torque and tactile) which identify the most widespread robotic control  ...  Sensors provide robotic systems with the information required to perceive the changes that happen in unstructured environments and modify their actions accordingly.  ...  Acknowledgements The authors want to express their gratitude to the Spanish Ministry of Science and Innovation and the Spanish Ministry of Education for their financial support through the projects DPI2005  ... 
doi:10.3390/s91209689 pmid:22303146 pmcid:PMC3267194 fatcat:ejjzr5zjova5vfrdlmiqss7mea

Visual Conveyor Tracking in High-Speed Robotics Tasks [chapter]

Theodor Borangiu
2006 Industrial Robotics: Theory, Modelling and Control  
Visual Conveyor tracking in High-speed Robotics Tasks 747 • scale_factor is the calibrating constant specifying the ratio between the elementary displacement of the belt and one pulse of the encoder.  ...  The research on Guidance Vision for Robots (GVR) accessing moving targets was directed to develop a convergent motion control algorithm for visually plan the motion of the robot as a result of object detection  ...  Scheduling of program execution tasks Vision guided robot planning ("object recognition and locating"), and dynamical re-planning of robot destination ("robot tracking the belt") should always be configured  ... 
doi:10.5772/5040 fatcat:qbrpvovy75cqtbt5laoguyz5ce

Dynamic sensor-based control of robots with visual feedback

L. Weiss, A. Sanderson, C. Neuman
1987 IEEE Journal on Robotics and Automation  
Abstruct-Sensor-based robot control may be viewed as a hierarchical structure with multiple observers.  ...  For vision sensors, such an imuge-bused visual servo control is shown to provide stable and consistent dynamic control within local regimes of the recognition observer.  ...  The image acquired by the camera must be processed by a computer vision system to identify the object and infer relationships between the spatial position of the object and the camera position.  ... 
doi:10.1109/jra.1987.1087115 fatcat:6ca7ltbfdbbabedbxwkuybpt6e

Robotic manipulation using high bandwidth force and vision feedback

B.J. Nelson, J.D. Morrow, P.K. Khosla
1996 Mathematical and computer modelling  
This paper presents three different strategies which combine force and vision within the feedback loop of a manipulator; traded control; hybrid control; and shared control.  ...  Force controlled manipulation is a common technique for compliantly contacting and manipulating uncertain environments. visual servoing is an eflective technique for guiding imprecisely calibrated manipulators  ...  For teleoperation, a mouse cursor can be used to guide the manipulator by a teleoperator observing live video images of the robot.  ... 
doi:10.1016/0895-7177(96)00113-6 fatcat:7ijc5mlhgnek3odoaekwynyrva
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