Implementation of Advanced Image Differential Operation for Visual Servoing

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  • Shibata Masaaki
    Dept. of Electrical Engineering and Electronics, Seikei University
  • Hosomi Chika
    Dept. of Electrical Engineering and Electronics, Seikei University

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  • ビジュアルサーボのための高度画像微分フィルタの実装
  • ビジュアルサーボ ノ タメ ノ コウド ガゾウ ビブン フィルタ ノ ジッソウ

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Abstract

The paper describes an approach for applying advanced image differential operation, for purposing to realize the visual servo system based on the advanced image processing. The conventional and ordinary visual servo system, in general, has employed binarized image processing approach, and/or preferred the simple operators so as to suppress the image processing time. On the other hand, the precise object recognition system has introduced the advanced image processing operators and filters which require much more processing time.<br>In this paper, a novel advanced image differential operator based on the discrete Deriche filter has been proposed, and the high-speed differential operator has been implemented on hardware processing. The performance of the system should be determined by the sampling time of the visual servo controller and the required accuracy, so that the proposed system has been examined in several experiments, and furthermore applied to the visual servo system.<br>Consequently, the validity of the proposed approach is confirmed in the experimental results on the visual servo system.

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