The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지

Robust Position Tracking for Position-Based Visual Servoing and Its Application to Dual-Arm Task

위치기반 비주얼 서보잉을 위한 견실한 위치 추적 및 양팔 로봇의 조작작업에의 응용

  • 김찬오 (고려대학교 제어계측공학과) ;
  • 최성 (고려대학교 제어계측공학과) ;
  • 정주노 (고려대학교 제어계측공학과) ;
  • 양광웅 (한국 생산 기술 연구원 로봇 기술본부 지능 운동 연구팀) ;
  • 김홍석 (한국 생산 기술 연구원 로봇 기술본부 지능 운동 연구팀)
  • Published : 2007.06.30
Download PDF
⟨ Previous Next ⟩

Abstract

This paper introduces a position-based robust visual servoing method which is developed for operation of a human-like robot with two arms. The proposed visual servoing method utilizes SIFT algorithm for object detection and CAMSHIFT algorithm for object tracking. While the conventional CAMSHIFT has been used mainly for object tracking in a 2D image plane, we extend its usage for object tracking in 3D space, by combining the results of CAMSHIFT for two image plane of a stereo camera. This approach shows a robust and dependable result. Once the robot's task is defined based on the extracted 3D information, the robot is commanded to carry out the task. We conduct several position-based visual servoing tasks and compare performances under different conditions. The results show that the proposed visual tracking algorithm is simple but very effective for position-based visual servoing.

Keywords