TUTCRIS - Tampereen teknillinen yliopisto

TUTCRIS

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

Tutkimustuotosvertaisarvioitu

Yksityiskohdat

AlkuperäiskieliEnglanti
OtsikkoInternational Conference on Robotics and Mechantronics
Alaotsikko(ICRoM 2017)
KustantajaIOP Publishing Ltd.
Sivumäärä6
Vuosikerta320
DOI - pysyväislinkit
TilaJulkaistu - 2018
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaINTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS -
Kesto: 1 tammikuuta 1900 → …

Julkaisusarja

NimiIOP conference series : materials science and engineering
ISSN (painettu)1757-8981
ISSN (elektroninen)1757-899X

Conference

ConferenceINTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS
Ajanjakso1/01/00 → …

Tiivistelmä

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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