Knowledge Commons of Institute of Automation,CAS
Selection of Observation Position and Orientation in Visual Servoing with Eye-in-vehicle Configuration for Manipulator | |
Ma HX(马洪轩); Zou W(邹伟); Zhu Z(朱政); Zhang C(张弛); Kang ZB(亢兆兵) | |
发表期刊 | International Journal of Automation and Computing |
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 |
收录类别 | EI |
语种 | 英语 |
七大方向——子方向分类 | 机器人感知与决策 |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/44433 |
专题 | 中科院工业视觉智能装备工程实验室_精密感知与控制 |
通讯作者 | Zou W(邹伟) |
作者单位 | 中国科学院自动化研究所 |
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 | Ma HX,Zou W,Zhu Z,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 | Ma HX,Zou W,Zhu Z,Zhang C,&Kang ZB.(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 | Ma HX,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. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Selection of Observa(3894KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 |
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