アクティブビジュアルサーボのための最適投影パタン  [in Japanese] Optimal Projection Pattern for Active Visual Servoing  [in Japanese]

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Abstract

<p>Visual servo control uses images obtained by a camera to control robots. This paper focuses on a problem of positioning a object using a robotic manipulator with visual servo control. To perform the positioning task, image-based visual servoing requires visual features which can be extracted from appearance of a target object. Therefore, positioning error is remained for textureless objects, such as industrial parts. To solve this problem, this paper proposes a novel concept of visual servoing named "Active Visual Servoing". Active visual servoing projects pattern light on the target object using a projector. Thus designing of the projection pattern affects on the positioning error. We theoretically derive the optimal projection pattern which maximizes a cost function for image-based visual servoing. Experimental results show that the proposed active visual servoing achieves less positioning error compared to conventional image-based visual servoing.</p>

Journal

  • The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2018(0), 2A1-M14, 2018

    The Japan Society of Mechanical Engineers

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