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Pregled bibliografske jedinice broj: 956066

Active Vision for Low Cost SCARA Robots Using RGB- D Camera


Đurović, Petra; Cupec, Robert
Active Vision for Low Cost SCARA Robots Using RGB- D Camera // 2018 Zooming Innovation in Consumer Technologies Conference (ZINC)
Novi Sad, Serbia: IEEE, 2018. str. 84-87 doi:10.1109/ZINC.2018.8448507 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Active Vision for Low Cost SCARA Robots Using RGB- D Camera

Autori
Đurović, Petra ; Cupec, Robert

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
2018 Zooming Innovation in Consumer Technologies Conference (ZINC) / - Novi Sad, Serbia : IEEE, 2018, 84-87

ISBN
978-1-5386-4927-5

Skup
2018 Zooming Innovation in Consumer Technologies Conference (ZINC)

Mjesto i datum
Novi Sad, Srbija, 30-31.5.2018

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Active vision, hand-eye calibration, object detection, grasping

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo



POVEZANOST RADA


Projekt / tema
HRZZ-IP-2014-09-3155 - Napredna 3D percepcija za mobilne robotske manipulatore (Robert Cupec, )

Ustanove
Fakultet elektrotehnike, računarstva i informacijskih tehnologija Osijek

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