On-line stable evolutionary recognition by quaternion motion-feedforward compensation

Wei Song, Mamoru Minami, Yasushi Mae, Seiji Aoyagi

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

Abstract

This paper presents a pose measurement method of a 3D object. The proposed method utilizes an evolutionary search technique of a genetic algorithm (GA) and a fitness evaluation based on a matching stereo model 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 simulation experiments.

Original languageEnglish
Title of host publicationSICE Annual Conference, SICE 2007
Pages1023-1030
Number of pages8
DOIs
Publication statusPublished - Dec 1 2007
Externally publishedYes
EventSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan
Duration: Sep 17 2007Sep 20 2007

Publication series

NameProceedings of the SICE Annual Conference

Other

OtherSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
CountryJapan
CityTakamatsu
Period9/17/079/20/07

Keywords

  • 3D pose measurement
  • GA
  • Motion-feedforward compensation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Song, W., Minami, M., Mae, Y., & Aoyagi, S. (2007). On-line stable evolutionary recognition by quaternion motion-feedforward compensation. In SICE Annual Conference, SICE 2007 (pp. 1023-1030). [4421134] (Proceedings of the SICE Annual Conference). https://doi.org/10.1109/SICE.2007.4421134