Teaching and Programing for Robots. Precise Planar Positioning Method Using Visual Servoing Based on Coarse Optical Flow.
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- Mitsuda Takashi
- Faculty of Engineering Science, Osaka University
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- Miyazaki Yoji
- Faculty of Engineering Science, Osaka University
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- Maru Noriaki
- Faculty of Systems Engneering, Wakayama University
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- Miyazaki Fumio
- Faculty of Engineering Science, Osaka University
Bibliographic Information
- Other Title
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- 作業の教示とプログラミング 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
- アライ オプティカルフロー オ モチイタ コウセイド ナ イチギメ ビジュアルサーボ
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Abstract
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.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 17 (2), 227-233, 1999
The Robotics Society of Japan
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Details 詳細情報について
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- CRID
- 1390282679703449984
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- NII Article ID
- 10002865659
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 4679078
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed