Visual Servoing of a Mobile Manipulator Based on Stereo Vision

  • Lee, H.J. (Graduate School of Mechanical and Intelligent Systems Engineering, Pusan National University) ;
  • Park, M.G. (Graduate School of Mechanical and Intelligent Systems Engineering, Pusan National University) ;
  • Lee, M.C. (School of Mechanical Engineering, Pusan National University)
  • Published : 2003.10.22

Abstract

In this study, stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the position of the target using a stereo vision system. While a monocular vision system needs properties such as geometric shape of a target, a stereo vision system enables the robot to find the position of a target without additional information. Many algorithms have been studied and developed for an object recognition. However, most of these approaches have a disadvantage of the complexity of computations and they are inadequate for real-time visual servoing. However, color information is useful for simple recognition in real-time visual servoing. In this paper, we refer to about object recognition using colors, stereo matching method, recovery of 3D space and the visual servoing.

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