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

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Details

Original languageEnglish
Title of host publicationInternational Conference on Robotics and Mechantronics
Subtitle of host publication(ICRoM 2017)
PublisherIOP Publishing Ltd.
Number of pages6
Volume320
DOIs
Publication statusPublished - 2018
Publication typeA4 Article in a conference publication
EventINTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS -
Duration: 1 Jan 1900 → …

Publication series

NameIOP conference series : materials science and engineering
ISSN (Print)1757-8981
ISSN (Electronic)1757-899X

Conference

ConferenceINTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS
Period1/01/00 → …

Abstract

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.

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