Binocular visual tracking and grasping of a moving object with a 3D trajectory predictor

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Détails bibliographiques
Auteur principal:	J. Fuentes-Pacheco
Format:	Artículo científico
Langue:	en
Publié:	Universidad Nacional Autónoma de México 2009
Sujets:	Ingeniería tracking grasping stereo vision visual servoing Linear prediction
Accès en ligne:	Acceder al recurso
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author	J. Fuentes-Pacheco
author_facet	J. Fuentes-Pacheco
contents	Binocular visual tracking and grasping of a moving object with a 3D trajectory predictor J. Fuentes-Pacheco J. Ruiz-Ascencio J. M. Rendón-Mancha Ingeniería tracking grasping stereo vision visual servoing Linear prediction This paper presents a binocular eye¿to¿hand visual servoing system that is able to track and grasp a moving object in real time. Linear predictors are employed to estimate the object trajectory in three dimensions and are capable of predicting future positions even if the object is temporarily occluded. For its development we have used a CRS T475 manipulator robot with six degrees of freedom and two fixed cameras in a stereo pair configuration. The system has a client-server architecture and is composed of two main parts: the vision system and the control system. The vision system uses color detection to extract the object from the background and a tracking technique based on search windows and object moments. The control system uses the RobWork library to generate the movement instructions and to send them to a C550 controller by means of the serial port. Experimental results are presented to verify the validity and the efficacy of the proposed visual servoing system. 2009 artículo científico 1665-6423 https://www.redalyc.org/articulo.oa?id=47413020002 en http://www.redalyc.org/revista.oa?id=474 Journal of Applied Research and Technology application/pdf Universidad Nacional Autónoma de México Journal of Applied Research and Technology (México) Num.3 Vol.7
format	Artículo científico
id	redalyc_47413020002
institution	Redalyc
language	en
publishDate	2009
publisher	Universidad Nacional Autónoma de México
spellingShingle	Binocular visual tracking and grasping of a moving object with a 3D trajectory predictor J. Fuentes-Pacheco Ingeniería tracking grasping stereo vision visual servoing Linear prediction Binocular visual tracking and grasping of a moving object with a 3D trajectory predictor J. Fuentes-Pacheco J. Ruiz-Ascencio J. M. Rendón-Mancha Ingeniería tracking grasping stereo vision visual servoing Linear prediction This paper presents a binocular eye¿to¿hand visual servoing system that is able to track and grasp a moving object in real time. Linear predictors are employed to estimate the object trajectory in three dimensions and are capable of predicting future positions even if the object is temporarily occluded. For its development we have used a CRS T475 manipulator robot with six degrees of freedom and two fixed cameras in a stereo pair configuration. The system has a client-server architecture and is composed of two main parts: the vision system and the control system. The vision system uses color detection to extract the object from the background and a tracking technique based on search windows and object moments. The control system uses the RobWork library to generate the movement instructions and to send them to a C550 controller by means of the serial port. Experimental results are presented to verify the validity and the efficacy of the proposed visual servoing system. 2009 artículo científico 1665-6423 https://www.redalyc.org/articulo.oa?id=47413020002 en http://www.redalyc.org/revista.oa?id=474 Journal of Applied Research and Technology application/pdf Universidad Nacional Autónoma de México Journal of Applied Research and Technology (México) Num.3 Vol.7
title	Binocular visual tracking and grasping of a moving object with a 3D trajectory predictor
topic	Ingeniería tracking grasping stereo vision visual servoing Linear prediction
url	https://www.redalyc.org/articulo.oa?id=47413020002

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