Visual Servoing System Based on Space Variant Imaging for Rehabilitation Robots

공간 변화 영상을 이용한 재활로봇의 비쥬얼 서보잉 시스템에 관한 연구

The space variant imaging system which mimics the human beings visual system has some merits such as wide field-of-view, the low computational cost and the high accuracy in matching of correspondence points of stereo images. In this presentation, a visual servoing system based on the space variant imaging technique is proposed for the control of the rehabilitation robot arm. The position information of an object obtained by space variant imaging techniques is used for the visual servoing. According to the empirical data, the degree of correlation extracted by the space variant imaging technique is more accurate than that of the space invariant imaging technique.