Adaptive Feedback in Local Coordinates for Real-time Vision-Based Motion Control Over Long Distances
Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review
Details
| Original language | English |
|---|---|
| Title of host publication | International Conference on Robotics and Mechantronics |
| Subtitle of host publication | (ICRoM 2017) |
| Publisher | IOP Publishing Ltd. |
| Number of pages | 6 |
| Volume | 320 |
| DOIs | |
| Publication status | Published - 2018 |
| Publication type | A4 Article in a conference publication |
| Event | INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS - Duration: 1 Jan 1900 → … |
Publication series
| Name | IOP conference series : materials science and engineering |
|---|---|
| ISSN (Print) | 1757-8981 |
| ISSN (Electronic) | 1757-899X |
Conference
| Conference | INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS |
|---|---|
| Period | 1/01/00 → … |
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.
Publication forum classification
Field of science, Statistics Finland
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