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
Writing – Original Draft Preparation
;
Palmieri, G
Validation
;
Carbonari, L
Investigation
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.
978-150905998-0
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11566/258349
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