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http://dx.doi.org/10.5302/J.ICROS.2005.11.5.411

Visual Servoing of a Mobile Manipulator Based on Stereo Vision  

Lee Hyun Jeong (부산대학교 지능기계공학과)
Park Min Gyu (부산대학교 기계기술연구소)
Lee Min Cheol (부산대학교 기계공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.5, 2005 , pp. 411-417 More about this Journal
Abstract
In this study, stereo vision system is applied to a mobile manipulator for effective tasks. The robot can recognize a target and compute the potion of the target using a stereo vision system. While a monocular vision system needs properties such as geometric shape of a target, a stereo vision system enables the robot to find the position of a target without additional information. Many algorithms have been studied and developed for an object recognition. However, most of these approaches have a disadvantage of the complexity of computations and they are inadequate for real-time visual servoing. Color information is useful for simple recognition in real-time visual servoing. This paper addresses object recognition using colors, stereo matching method to reduce its calculation time, recovery of 3D space and the visual servoing.
Keywords
stereo vision; mobile manipulator; color information; stereo matching; computer vision; visual servoing;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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