Robust translational/rotational eye-vergence visual servoing under illumination varieties

Hongzhi Tian, Yejun Kou, Khaing Win Phyu, Daiki Yamada, Mamoru Minami

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

Abstract

To track moving target, keep it at the center of the camera's view and overcome the defects of fixed hand-eye visual servoing system, we proposed an eye-vergence visual servoing system. In the new system, 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 influence of aberration of a camera lens. In practical applications among different indoor environments, lighting conditions may vary greatly. Therefore, the hue of HSV and model-based matching method are utilized to detect an object in the eye-vergence system. In this paper, it is carried out that comparison and analysis of recognition experiments in different illumination. Through the interior illumination changing experiment it can be ensured that the recognition method has a robustness to illumination changing within a certain range. And in the end, through a 3D pose tracking experiment, it can be verified that the tracking is still carried out smoothly even though illumination of object frequently changes.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2032-2037
Number of pages6
Volume2018-January
ISBN (Electronic)9781538637418
DOIs
Publication statusPublished - Mar 23 2018
Event2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China
Duration: Dec 5 2017Dec 8 2017

Other

Other2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
CountryChina
CityMacau
Period12/5/1712/8/17

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization
  • Modelling and Simulation

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  • Cite this

    Tian, H., Kou, Y., Phyu, K. W., Yamada, D., & Minami, M. (2018). Robust translational/rotational eye-vergence visual servoing under illumination varieties. In 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 (Vol. 2018-January, pp. 2032-2037). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2017.8324718