Nonlinear visual mapping model for 3-D visual tracking with uncalibrated eye-in-hand robotic system.

Jianbo Su; Yugeng Xi; Uwe D Hanebeck; G Schmidt

doi:10.1109/tsmcb.2002.805813

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Nonlinear visual mapping model for 3-D visual tracking with uncalibrated eye-in-hand robotic system.

Jianbo Su·Yugeng Xi·Uwe D Hanebeck·G Schmidt

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Abstract

A new control scheme for uncalibrated robotic visual tracking problem is proposed that compromises the computational expenses of overall system with offline modeling and online control. A nonlinear visual mapping model for the uncalibrated hand-eye coordination is first proposed with an artificial neural network implementation. An online visual tracking controller is then developed together with a real-time motion planner. To improve the system performance, the control scheme is also integrated with a feedforward controller to compensate unknown object motions. Extensive simulations and experiments demonstrate the effectiveness of the proposed control scheme.

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Algorithms Artificial Intelligence Calibration Computer Simulation Hand Humans Image Interpretation, Computer-Assisted Imaging, Three-Dimensional Models, Theoretical Movement Nonlinear Dynamics Pattern Recognition, Automated Robotics Evaluation Study Journal Article Research Support, Non-U.S. Gov't Validation Study

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Jianbo Su, Yugeng Xi, Uwe D Hanebeck, G Schmidt. 2004. Nonlinear visual mapping model for 3-D visual tracking with uncalibrated eye-in-hand robotic system.. https://doi.org/10.1109/tsmcb.2002.805813

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