Knowledge Commons of Institute of Automation,CAS
Robot teleoperation system based on SVDD | |
Xi, Bao; Liu, Naijun; Lu, Tao; Lu, Jinyan; Cai, Yinghao; Wang, Shuo | |
2017-10 | |
会议名称 | Chinese Automation Congress |
会议日期 | 2017.10.20-22 |
会议地点 | Jinan, China |
摘要 | This paper presents a real-time vision based robot teleoperation system that consists of a three-dimensional (3D) vision subsystem and a slave robot which are connected by LAN. The vision subsystem utilizes an Asus Xtion Pro Live camera to get the 3D data of the operation scene. The vision system is used to determine the position and orientation of a four-ball feature frame held by the operator. Then the position and the orientation are used to control a remote robot. In the vision subsystem, support vector domain description (SVDD) is adopted to detect the balls on the feature frame. In this paper, we propose a novel colour table to speed up the detection procedure and utilize Kalman filter for ball tracking to reduce the detection area for further acceleration. The operator can see the motion of the robot which enables the operator make some corrections constantly.The SVDD colour classifier and the teleoperation system are tested in experiments. |
关键词 | SVDD Kalman filter Teleoperation Position Orientation |
学科领域 | 机器人控制 |
学科门类 | 工学::控制科学与工程 |
收录类别 | EI |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/42218 |
专题 | 多模态人工智能系统全国重点实验室_智能机器人系统研究 |
通讯作者 | Wang, Shuo |
作者单位 | The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, China |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Xi, Bao,Liu, Naijun,Lu, Tao,et al. Robot teleoperation system based on SVDD[C],2017. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Robot teleoperation (526KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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