This paper addresses the analysis of an experimental setup designed with the aim of calibrating important parameters involved in visual servoing. More precisely, the effects of parameters related to image processing, camera calibration and noise reduction are investigated. Great attention is given to the algorithms used for improving the pose accuracy of a moving target while reducing their computational burden for an online implementation. A simple test case of visual servoing on an electric linear axis is shown in order to prove the effectiveness of the study. However, the obtained results are also valid for general motion of typical robotic systems. Actually, the present work is preliminary to the visual servoing of minor and full mobility parallel kinematic machines.
Analysis of an Experimental Setup for Direct Visual Servoing / Palpacelli, M; Palmieri, G; Carbonari, L. - (2017), pp. 412-417. (Intervento presentato al convegno 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 tenutosi a Sheraton Arabellapark HotelMunich; Germany nel 3 July 2017 through 7 July 2017) [10.1109/AIM.2017.8014052].
Analysis of an Experimental Setup for Direct Visual Servoing
Palpacelli, M
Writing – Original Draft Preparation
;Palmieri, GValidation
;Carbonari, LInvestigation
2017-01-01
Abstract
This paper addresses the analysis of an experimental setup designed with the aim of calibrating important parameters involved in visual servoing. More precisely, the effects of parameters related to image processing, camera calibration and noise reduction are investigated. Great attention is given to the algorithms used for improving the pose accuracy of a moving target while reducing their computational burden for an online implementation. A simple test case of visual servoing on an electric linear axis is shown in order to prove the effectiveness of the study. However, the obtained results are also valid for general motion of typical robotic systems. Actually, the present work is preliminary to the visual servoing of minor and full mobility parallel kinematic machines.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
