A model-based real-world scene recognition using local/global search of a GA for manipulator real-time visual servoing

Julien Agbanhan, Mamoru Minami, Toshiyuki Asakura

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

Abstract

This paper presents a vision related technique for a manipulator real-time visual servoing. The method utilizes the global search feature of a genetic algorithm (GA) and a local search technique of the GA and also the unprocessed gray-scale image called here as rawimage, in order to perform recognition of a known target object being imaged. Also in GA process, the computation of the fitness function is based on the configuration of an object model designated as surface-strips model. The raw-image is used since it is more tolerant of contrast variations from an input image to the next one, and moreover does not require any filtering processing time. The global GA is utilized together with the local GA in order to increase the GA's convergence speed so as to provide fester and better recognition results. In order to evaluate the effectiveness of the proposed scene recognition method, experiments have been done using real images. The results have shown the effectiveness of the proposed technique for manipulator real-time visual servoing.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherIEEE Computer Society
Pages2195-2200
Number of pages6
Volume1
DOIs
Publication statusPublished - 2000
Externally publishedYes

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Agbanhan, J., Minami, M., & Asakura, T. (2000). A model-based real-world scene recognition using local/global search of a GA for manipulator real-time visual servoing. In IECON Proceedings (Industrial Electronics Conference) (Vol. 1, pp. 2195-2200). [972616] IEEE Computer Society. https://doi.org/10.1109/IECON.2000.972616