粗いオプティカルフローを用いた高精度な位置決めビジュアルサーボ Precise Planar Positioning Method Using Visual Servoing Based on Coarse Optical Flow

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抄録

The planar positioning of an object using a camera is an important technique for minute manufacturing. And detecting a feature in an image is an essential subject for it, thus research has been actively pursued in this area. Template matching is a useful method of detecting a feature in an image. It doesn't require any complicated settings, and we can use it more easily than other methods (centroid determination in binary image processing, etc.), by an equipment on the market. However, template matching is poor at detecting the rotation of a feature, and the amount of calculation is large. In order to solve these problems, we propose a new method of detecting the translation and rotation of a feature by the use of coarse optical flow. The coarse optical flow is acquired by the differences of the intensity between an objective template and the observed template, and the gradient of the intensity at each pixel in the template. This method is as simple as conventional template matching. Furthermore, it provides sub-pixel accuracy. Then changing the image resolution from coarse to fine makes it possible to reduce the amount of calculation. We show some experimental results of a precise planar positioning.

収録刊行物

  • 日本ロボット学会誌  

    日本ロボット学会誌 17(2), 227-233, 1999-03-15 

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10002865659
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    4679078
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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