3D evolutionary pose tracking experiments of eye-vergence visual servoing in lateral motion and arc swing motion

Hongzhi Tian, Ryuki Funakubo, Yejun Kou, Mamoru Minami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The moving target visual servoing with hand eye cameras fixed at hand is inevitably affected by dynamic oscillatory, so that it's difficult to remain target position at the center of the camera's view, because the tracing ability of the system is influenced by non-linear dynamics of the entire manipulator. To overcome this defect of the fixed hand-eye system, hand-eye-vergence system in which left and right cameras' directions could be rotated to observe and keep the target object to be seen at the center of camera images to reduce the influences of aberration of camera lens. This paper analyses the performance of 3D-object position and orientation tracking experiments of hand-eye-vergence system. They both show good tracking performance. In this paper an orientation recognition method using quaternion is put forward. And quaternion is incorporated into chromosomes and participates in the evolution of Genetic Algorithms (GA). The dynamical superiorities of the proposed system are verified by comparing hand tracking performances and the proposed eye-vergence tracking performances in two experiments of lateral and arc swing motion respectively.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages577-582
Number of pages6
ISBN (Electronic)9781509043644
DOIs
Publication statusPublished - Feb 27 2017
Event2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 - Qingdao, China
Duration: Dec 3 2016Dec 7 2016

Other

Other2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
CountryChina
CityQingdao
Period12/3/1612/7/16

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ASJC Scopus subject areas

  • Hardware and Architecture
  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Tian, H., Funakubo, R., Kou, Y., & Minami, M. (2017). 3D evolutionary pose tracking experiments of eye-vergence visual servoing in lateral motion and arc swing motion. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 (pp. 577-582). [7866384] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2016.7866384