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

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.