Adaptive Feedback in Local Coordinates for Real-time Vision-Based Motion Control Over Long Distances

International Conference on Robotics and Mechantronics

机械制造;无线电电子学;计算机科学

Aref, M.M.^1 ; Astola, P.^2 ; Vihonen, J.^3 ; Tabus, I.^2 ; Ghabcheloo, R.^1 ; Mattila, J.^1

Laboratory of Automation and Hydraulics Engineering (AUT), Tampere University of Technology, Tampere

FI-33101, Finland^1

Laboratory of Signal Processing (SGN), Tampere University of Technology, Tampere

FI-33101, Finland^2

Cargotec Corporation, Tampere, Finland^3

关键词: Adaptive feedback;    Co-ordinate system;    Experimental evaluation;    Integrated systems;    Real time vision;    Robotic applications;    Variable latencies;    Visual perception;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/320/1/012009/pdf
DOI  :  10.1088/1757-899X/320/1/012009

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

We studied the differences in noise-effects, depth-correlated behavior of sensors, and errors caused by mapping between coordinate systems in robotic applications of machine vision. In particular, the highly range-dependent noise densities for semi-unknown object detection were considered. An equation is proposed to adapt estimation rules to dramatic changes of noise over longer distances. This algorithm also benefits the smooth feedback of wheels to overcome variable latencies of visual perception feedback. Experimental evaluation of the integrated system is presented with/without the algorithm to highlight its effectiveness.