Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Visual Servoing of a Mobile Manipulator Based on Stereo Vision

스테레오 영상을 이용한 이동형 머니퓰레이터의 시각제어

  • 이현정 (부산대학교 지능기계공학과) ;
  • 박민규 (부산대학교 기계기술연구소) ;
  • 이민철 (부산대학교 기계공학부)
  • Published : 2005.05.01
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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 potion 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. Color information is useful for simple recognition in real-time visual servoing. This paper addresses object recognition using colors, stereo matching method to reduce its calculation time, recovery of 3D space and the visual servoing.

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References

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