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Pregled bibliografske jedinice broj: 956066

Zbornik radova

Autori: Đurović, Petra; Cupec, Robert
Naslov: Active Vision for Low Cost SCARA Robots Using RGB- D Camera
Izvornik: 2018 Zooming Innovation in Consumer Technologies Conference (ZINC)Novi Sad, Serbia : IEEE , 2018. 84-87 (ISBN: 978-1-5386-4927-5).
Skup: 2018 Zooming Innovation in Consumer Technologies Conference (ZINC)
Mjesto i datum: Novi Sad, Srbija, 30-31.5.2018.
Ključne riječi: active vision, hand-eye calibration, object detection, grasping
Sažetak:
In this paper, an active vision approach for low cost robots without absolute encoders, relying on visual feedback only is proposed. Lacking absolute encoders, positioning of a robot arm is performed by visual servoing based on detection of a marker mounted close to the end effector. In order to achieve a wide field of view, an RGB-D camera is set on a pan-tilt head. Since each change in pan and tilt angles of the camera results in a change in relative positions between the robot reference frame and the camera reference frame, constant hand-eye recalibration is required. Both hand-eye calibration and visual servoing require visibility of the marker in the camera field of view, which is ensured by an active vision strategy. Active vision also includes search for object of interest on the scene. The proposed method is evaluated using a real robot arm in SCARA configuration.
Vrsta sudjelovanja: Predavanje
Vrsta prezentacije u zborniku: Cjeloviti rad (više od 1500 riječi)
Vrsta recenzije: Međunarodna recenzija
Projekt / tema: HRZZ-IP-2014-09-3155
Izvorni jezik: ENG
Kategorija: Znanstveni
Znanstvena područja:
Računarstvo
URL Internet adrese: https://ieeexplore.ieee.org/document/8448507/
Upisao u CROSBI: Petra Đurović (petra.durovic@etfos.hr), 24. Ruj. 2018. u 07:24 sati



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