On-line stable evolutionary recognition based on unit quaternion representation by motion-feedforward compensation

Wei Song; Mamoru Minami; Seiji Aoyagi

doi:10.1080/1931308X.2008.10644160

On-line stable evolutionary recognition based on unit quaternion representation by motion-feedforward compensation

Wei Song, Mamoru Minami, Seiji Aoyagi

Research output: Contribution to journal › Article › peer-review

26 Citations (Scopus)

Abstract

This paper presents a pose measurement method of a 3D object. The proposed method utilizes an evolutionary search technique of the genetic algorithm (GA) and a fitness evaluation based on a stereo model matching whose pose is expressed by unit quaternion. To improve the dynamics of recognition, a motion-feedforward compensation method is proposed for the hand-eye system. The effectiveness of the proposed method is confirmed by the simulation experiments.

Original language	English
Pages (from-to)	127-139
Number of pages	13
Journal	IC-MED International Journal of Intelligent Computing in Medical Sciences and Image Processing
Volume	2
Issue number	2
DOIs	https://doi.org/10.1080/1931308X.2008.10644160
Publication status	Published - 2008
Externally published	Yes

Keywords

3D measurement
Genetic algorithm (ga)
Motion-feedforward compensation
Unit quaternion

ASJC Scopus subject areas

Computer Science(all)
Radiology Nuclear Medicine and imaging

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10.1080/1931308X.2008.10644160

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AU - Minami, Mamoru

AU - Aoyagi, Seiji

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AB - This paper presents a pose measurement method of a 3D object. The proposed method utilizes an evolutionary search technique of the genetic algorithm (GA) and a fitness evaluation based on a stereo model matching whose pose is expressed by unit quaternion. To improve the dynamics of recognition, a motion-feedforward compensation method is proposed for the hand-eye system. The effectiveness of the proposed method is confirmed by the simulation experiments.

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KW - Genetic algorithm (ga)

KW - Motion-feedforward compensation

KW - Unit quaternion

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On-line stable evolutionary recognition based on unit quaternion representation by motion-feedforward compensation

Abstract

Keywords

ASJC Scopus subject areas

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