TY - GEN
T1 - High speed/accuracy visual servoing based on virtual visual servoing with stereo cameras
AU - Nammoto, Takashi
AU - Hashimoto, Koichi
AU - Kagami, Shingo
AU - Kosuge, Kazuhiro
N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].
PY - 2013
Y1 - 2013
N2 - This paper presents high speed and high accuracy visual servoing system. The algorithm has three major improvements, which can be implemented in practical applications; Firstly high-accuracy pose estimation by using stereo cameras, secondly real time implementation issues with non-real-time image processing platform and thirdly a consideration for industrial position controller. To resolve the issues, position-based visual servoing (PBVS) is adopted and appearance model based virtual visual servoing (VVS) is applied for pose estimation. VVS approach does not compute the stereo matching but directly compares the OpenGL rendered image and camera image for each camera; estimate the position/orientation using VVS independently for each camera; and provides a theoretically optimal compromise among those estimates. To enhance estimation accuracy, a hybrid method of stereo trigonometry for position estimation and weighted least squares for orientation estimation is proposed to combine the information from the stereo cameras. Operation speed is increased by using graphic processing unit (GPU) acceleration and an on-line trajectory generator which can accommodate the variable cycle of the image processing and the fixed cycle of a common robot controller. Finally, some experimental results illustrate the effectiveness of the proposed framework. © 2013 IEEE.
AB - This paper presents high speed and high accuracy visual servoing system. The algorithm has three major improvements, which can be implemented in practical applications; Firstly high-accuracy pose estimation by using stereo cameras, secondly real time implementation issues with non-real-time image processing platform and thirdly a consideration for industrial position controller. To resolve the issues, position-based visual servoing (PBVS) is adopted and appearance model based virtual visual servoing (VVS) is applied for pose estimation. VVS approach does not compute the stereo matching but directly compares the OpenGL rendered image and camera image for each camera; estimate the position/orientation using VVS independently for each camera; and provides a theoretically optimal compromise among those estimates. To enhance estimation accuracy, a hybrid method of stereo trigonometry for position estimation and weighted least squares for orientation estimation is proposed to combine the information from the stereo cameras. Operation speed is increased by using graphic processing unit (GPU) acceleration and an on-line trajectory generator which can accommodate the variable cycle of the image processing and the fixed cycle of a common robot controller. Finally, some experimental results illustrate the effectiveness of the proposed framework. © 2013 IEEE.
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U2 - 10.1109/IROS.2013.6696330
DO - 10.1109/IROS.2013.6696330
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 44
EP - 49
BT - IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -