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2008 IEEE Pacific-Asia Workshop on Computational Intelligence and Industrial Application
A New Binocular Stereo Visual Servoing Model
December 19-December 20
ISBN: 978-0-7695-3490-9
| ASCII Text | x | ||
| Huiguang Li, Mei Jin, Liying Zou, "A New Binocular Stereo Visual Servoing Model," Pacific-Asia Workshop on Computational Intelligence and Industrial Application, IEEE, vol. 1, pp. 461-465, 2008 IEEE Pacific-Asia Workshop on Computational Intelligence and Industrial Application, 2008. | |||
| BibTex | x | ||
| @article{ 10.1109/PACIIA.2008.218, author = {Huiguang Li and Mei Jin and Liying Zou}, title = {A New Binocular Stereo Visual Servoing Model}, journal ={Pacific-Asia Workshop on Computational Intelligence and Industrial Application, IEEE}, volume = {1}, year = {2008}, isbn = {978-0-7695-3490-9}, pages = {461-465}, doi = {http://doi.ieeecomputersociety.org/10.1109/PACIIA.2008.218}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, } | |||
| RefWorks Procite/RefMan/Endnote | x | ||
| TY - CONF JO - Pacific-Asia Workshop on Computational Intelligence and Industrial Application, IEEE TI - A New Binocular Stereo Visual Servoing Model SN - 978-0-7695-3490-9 SP461 EP465 A1 - Huiguang Li, A1 - Mei Jin, A1 - Liying Zou, PY - 2008 KW - eye-in-hand vision system KW - control of robots KW - binocular stereo vision VL - 1 JA - Pacific-Asia Workshop on Computational Intelligence and Industrial Application, IEEE ER - | |||
In recent years, eye-in-hand robot visual servoing has drawn increasing concern in robot industry. Considering visual servoing system of the eye-in-hand, this paper presents a control theoretic formulation. The new binocular stereo model hasn't depth information. It avoids measuring and estimating the depth of object point, which can improve the control performance. It is the most outstanding advantage that other models don’t have. Besides, in this model, we use two-camera vision system to image, which has wider vision field than one CCD vision system. Utilizing this model and only considering kinematics characteristics of the robot, this paper proposes a controller to control the end-effector of the robot. The simulation results have shown the validity of the model.
Index Terms:
eye-in-hand vision system, control of robots, binocular stereo vision
Citation:
Huiguang Li, Mei Jin, Liying Zou, "A New Binocular Stereo Visual Servoing Model," paciia, vol. 1, pp.461-465, 2008 IEEE Pacific-Asia Workshop on Computational Intelligence and Industrial Application, 2008
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