Ellipse detection based long range robust visual servoing

【作者】 郝淼； 宋歌； 王峥； 孙增圻； 王宏； 藤井正和；

【Author】 HAO Miao,SONG Ge,WANG Zheng,SUN Zeng-qi,WANG Hong,Masakazu Fujii(Department of Computer Science and Technology,Tsinghua University,Beijing 100084,China)

【机构】 Department of Computer Science and Technology, Tsinghua University；

【摘要】 An ellipse detection based long range robust visual servoing platform was developed and analyzed in depth.At the beginning,random sample consensus(RANSAC)based ellipse detection(ED)was introduced as a feature extractor.Then the robust decoupled control scheme,which utilizes the ED feature as input,was proposed and investigated.After that a Motoman UP6 based 6DOFs platform was investigated as well as the discussion of the experimental results whose robust working range is from around 1.000 m to exactly 0.100 m.Finally,the performance of both the ED algorithm and the control scheme was analyzed as well as the future works.更多还原

【Abstract】 An ellipse detection based long range robust visual servoing platform was developed and analyzed in depth.At the beginning,random sample consensus(RANSAC)based ellipse detection(ED)was introduced as a feature extractor.Then the robust decoupled control scheme,which utilizes the ED feature as input,was proposed and investigated.After that a Motoman UP6 based 6DOFs platform was investigated as well as the discussion of the experimental results whose robust working range is from around 1.000 m to exactly 0.100 m.Finally,the performance of both the ED algorithm and the control scheme was analyzed as well as the future works.更多还原