Active Visual Features Based on Events to Guide Robot Manipulators in Tracking Tasks
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http://hdl.handle.net/10045/45465
Título: | Active Visual Features Based on Events to Guide Robot Manipulators in Tracking Tasks |
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Autor/es: | Gil, Pablo | Garcia, Gabriel J. | Mateo Agulló, Carlos | Torres, Fernando |
Grupo/s de investigación o GITE: | Automática, Robótica y Visión Artificial |
Centro, Departamento o Servicio: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal |
Palabras clave: | Guidance navigation | Robot manipulators | Autonomous robotic systems | Event control | AER | Asynchronous vision sensor | Visual servoing | Image motion | Robot vision |
Área/s de conocimiento: | Ingeniería de Sistemas y Automática |
Fecha de creación: | 2014 |
Fecha de publicación: | 24-ago-2014 |
Editor: | IFAC |
Cita bibliográfica: | Proceedings of the 19th IFAC World Congress, 2014. Boje, Edward; Xia, Xiaohua (Eds.). IFAC, 2014, pp. 11890-11897 |
Resumen: | 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. |
Patrocinador/es: | 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). |
URI: | http://hdl.handle.net/10045/45465 |
ISBN: | 978-3-902823-62-5 |
ISSN: | 1474-6670 |
DOI: | 10.3182/20140824-6-ZA-1003.02151 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/conferenceObject |
Derechos: | © 2014 IFAC |
Revisión científica: | si |
Versión del editor: | http://dx.doi.org/10.3182/20140824-6-ZA-1003.02151 |
Aparece en las colecciones: | INV - AUROVA - Comunicaciones a Congresos Internacionales INV - HURO - Comunicaciones a Congresos, Conferencias, etc. |
Archivos en este ítem:
Archivo | Descripción | Tamaño | Formato | |
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pape_worldcongress_ifac_version_final.pdf | Versión revisada (acceso abierto) | 290,16 kB | Adobe PDF | Abrir Vista previa |
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