Active Vision for Low Cost SCARA Robots Using RGB- D Camera (CROSBI ID 665979)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Đurović, Petra ; Cupec, Robert
engleski
Active Vision for Low Cost SCARA Robots Using RGB- D Camera
In this paper, an active vision approach for low cost robots without absolute encoders, relying on visual feedback only is proposed. Lacking absolute encoders, positioning of a robot arm is performed by visual servoing based on detection of a marker mounted close to the end effector. In order to achieve a wide field of view, an RGB-D camera is set on a pan-tilt head. Since each change in pan and tilt angles of the camera results in a change in relative positions between the robot reference frame and the camera reference frame, constant hand-eye recalibration is required. Both hand-eye calibration and visual servoing require visibility of the marker in the camera field of view, which is ensured by an active vision strategy. Active vision also includes search for object of interest on the scene. The proposed method is evaluated using a real robot arm in SCARA configuration.
active vision, hand-eye calibration, object detection, grasping
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Podaci o prilogu
84-87.
2018.
objavljeno
10.1109/ZINC.2018.8448507
Podaci o matičnoj publikaciji
2018 Zooming Innovation in Consumer Technologies Conference (ZINC)
Novi Sad: Institute of Electrical and Electronics Engineers (IEEE)
978-1-5386-4927-5
Podaci o skupu
Zooming Innovation in Consumer Technologies Conference (ZINC 2018)
predavanje
30.05.2018-31.05.2018
Novi Sad, Srbija