Analyses on on-line evolutionary optimization performance for pose tracking while eye-vergence visual servoing

Kenta Nishimura, Sen Hou, Koichi Maeda, Mamoru Minami, Akira Yanou

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

4 Citations (Scopus)

Abstract

In this research, Genetic algorithm (GA) is used as pose-tracking method 1-step GA, to solve on-line optimization problem for 3-D visual servoing. A correlation function between the target object projected in camera flame and model defined in the control computer is used for a fitness function to be optimized by the 1-step GA. The optimization process for real-time object tracking has been examined on a view point of realizing real-time pose estimation utilizing eye-vergence function. We have confirmed that the 1-step GA optimization method together with eye-vergence correlation fitness function worked cooperatively and how the eye-vergence helped real-time optimization processes in time-domain during visual servoing.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Pages698-703
Number of pages6
DOIs
Publication statusPublished - Nov 25 2013
Event2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 - Takamastu, Japan
Duration: Aug 4 2013Aug 7 2013

Publication series

Name2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013

Other

Other2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
CountryJapan
CityTakamastu
Period8/4/138/7/13

Keywords

  • Eye-vergence
  • GA
  • Visual servoing

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering

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  • Cite this

    Nishimura, K., Hou, S., Maeda, K., Minami, M., & Yanou, A. (2013). Analyses on on-line evolutionary optimization performance for pose tracking while eye-vergence visual servoing. In 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 (pp. 698-703). [6618001] (2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013). https://doi.org/10.1109/ICMA.2013.6618001