Active Visual Features Based on Events to Guide Robot Manipulators in Tracking Tasks

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Title: Active Visual Features Based on Events to Guide Robot Manipulators in Tracking Tasks
Authors: Gil, Pablo | Garcia, Gabriel J. | Mateo Agulló, Carlos | Torres, Fernando
Research Group/s: Automática, Robótica y Visión Artificial
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal
Keywords: Guidance navigation | Robot manipulators | Autonomous robotic systems | Event control | AER | Asynchronous vision sensor | Visual servoing | Image motion | Robot vision
Knowledge Area: Ingeniería de Sistemas y Automática
Date Created: 2014
Issue Date: 24-Aug-2014
Publisher: IFAC
Citation: Proceedings of the 19th IFAC World Congress, 2014. Boje, Edward; Xia, Xiaohua (Eds.). IFAC, 2014, pp. 11890-11897
Abstract: Traditional visual servoing systems do not deal with the topic of moving objects tracking. When these systems are employed to track a moving object, depending on the object velocity, visual features can go out of the image, causing the fail of the tracking task. This occurs specially when the object and the robot are both stopped and then the object starts the movement. In this work, we have employed a retina camera based on Address Event Representation (AER) in order to use events as input in the visual servoing system. The events launched by the camera indicate a pixel movement. Event visual information is processed only at the moment it occurs, reducing the response time of visual servoing systems when they are used to track moving objects.
Sponsor: The research leading to these results has received funding from the Spanish Government and European FEDER funds (DPI2012-32390), the Valencia Regional Government (GV2012/102 and PROMETEO/2013/085) and the University of Alicante (GRE12-17).
ISBN: 978-3-902823-62-5
ISSN: 1474-6670
DOI: 10.3182/20140824-6-ZA-1003.02151
Language: eng
Type: info:eu-repo/semantics/conferenceObject
Rights: © 2014 IFAC
Peer Review: si
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Appears in Collections:INV - AUROVA - Comunicaciones a Congresos Internacionales
INV - HURO - Comunicaciones a Congresos, Conferencias, etc.

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