NDLI: A Real-time Stereo Visual Servoing for Moving Object Grasping Based Parallel Algorithms

Content Provider	IEEE Xplore Digital Library
Author	Li Ge Zhao Jie
Copyright Year	2007
Description	Author affiliation: Robotics Inst.Harbin Inst.of Technol., Harbin (Li Ge; Zhao Jie)
Abstract	This paper proposes a visual servo system for real-time tracking and grasping of a moving object. In the visual servo system, a fast template matching method can be used in combination with a fast and reliable stereo matching method to achieve image matching of a moving object. Kalman filtering is then applied to provide improved position and speed estimation. At the same time, a parallel method is adopted to raise matching speed of the image matching method. The result is transmitted directly to robot controller and stereo-visual platform. It achieves the visual servoing of the robot and realizes real-time moving object grasping. By carrying out computer simulations and many experiments of object tracking with the capture of a moving object, experimental data is obtained to show that both oriented precision and matching speed have improved.
Starting Page	2886
Ending Page	2891
File Size	618804
Page Count	6
File Format	PDF
ISBN	9781424407361
DOI	10.1109/ICIEA.2007.4318941
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-05-23
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visual servoing Parallel algorithms Industrial electronics
Content Type	Text
Resource Type	Article

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A Real-time Stereo Visual Servoing for Moving Object Grasping Based Parallel Algorithms