Selection of Observation Position and Orientation in Visual Servoing with Eye-in-vehicle Configuration for Manipulator

doi:10.1007/s11633-019-1181-z

CASIA OpenIR > 学术期刊 > Machine Intelligence Research

	Selection of Observation Position and Orientation in Visual Servoing with Eye-in-vehicle Configuration for Manipulator
	Hong-Xuan Ma; Wei Zou; Zheng Zhu; Chi Zhang; Zhao-Bing Kang
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2019
卷号	16 期号:6 页码:761-774
摘要	In this paper, we propose a method to select the observation position in visual servoing with an eye-in-vehicle configuration for the manipulator. In traditional visual servoing, the images taken by the camera may have various problems, including being out of view, large perspective aberrance, improper projection area of object in images and so on. In this paper, we propose a method to determine the observation position to solve these problems. A mobile robot system with pan-tilt camera is designed, which calculates the observation position based on an observation and then moves there. Both simulation and experimental results are provided to validate the effectiveness of the proposed method.
关键词	Eye-in-vehicle observation position mobile robot visual servoing pan-tilt camera platform.
DOI	10.1007/s11633-019-1181-z
引用统计	被引频次：2[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42373
专题	学术期刊_Machine Intelligence Research
作者单位	Institute of Automation, Chinese Academy of Science, Beijing 100080, China
推荐引用方式 GB/T 7714	Hong-Xuan Ma,Wei Zou,Zheng Zhu,et al. Selection of Observation Position and Orientation in Visual Servoing with Eye-in-vehicle Configuration for Manipulator[J]. International Journal of Automation and Computing,2019,16(6):761-774.
APA	Hong-Xuan Ma,Wei Zou,Zheng Zhu,Chi Zhang,&Zhao-Bing Kang.(2019).Selection of Observation Position and Orientation in Visual Servoing with Eye-in-vehicle Configuration for Manipulator.International Journal of Automation and Computing,16(6),761-774.
MLA	Hong-Xuan Ma,et al."Selection of Observation Position and Orientation in Visual Servoing with Eye-in-vehicle Configuration for Manipulator".International Journal of Automation and Computing 16.6(2019):761-774.

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