2A1-K02 高速ビジョンを用いた色情報に基づく視覚フィードバック制御(ロボットビジョン(1))

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  • 2A1-K02 Visual Feedback Control Based on A Color Information by High-Speed Vision(Robot Vision (1))

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In this paper, we propose a robot manipulation system controlled by a stereo high-speed vision system. The vision system recognizes targets by using CAMshift. CAMshift is an tracking algorithm based on the pattern of the color histogram of a target, and it is robust against disturbance of image noise. In the experiment, the system recognized the positions of both a hand of a human operator and a stick grasped by the hand, and estimates the position and orientation of the stick. The robot arm was controlled so as to follow the motion of the stick. The motion of the arm was quick and responsive. The proposed system is useful for human-robot interaction systems.

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