Adaptive Feedback in Local Coordinates for Real-time Vision-Based Motion Control Over Long Distances
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Yksityiskohdat
| Alkuperäiskieli | Englanti |
|---|---|
| Otsikko | International Conference on Robotics and Mechantronics |
| Alaotsikko | (ICRoM 2017) |
| Kustantaja | IOP Publishing Ltd. |
| Sivumäärä | 6 |
| Vuosikerta | 320 |
| DOI - pysyväislinkit | |
| Tila | Julkaistu - 2018 |
| OKM-julkaisutyyppi | A4 Artikkeli konferenssijulkaisussa |
| Tapahtuma | INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS - Kesto: 1 tammikuuta 1900 → … |
Julkaisusarja
| Nimi | IOP conference series : materials science and engineering |
|---|---|
| ISSN (painettu) | 1757-8981 |
| ISSN (elektroninen) | 1757-899X |
Conference
| Conference | INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS |
|---|---|
| Ajanjakso | 1/01/00 → … |
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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