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[IEEE IGARSS 2018 - 2018 IEEE International Geoscience and Remote Sensing Symposium - Valencia, Spain (2018.7.22-2018.7.27)] IGARSS 2018 - 2018 IEEE International Geoscience and Remote Sensing Symposium - Integrated Aerosol Extinction Profiles from Ceilometer and Sunphotometer Combination against Sunphotometer Measurements at Various Heights
摘要： The aerosol extinction profiles at Granada (Spain) have been obtained combining ceilometer and sun/sky measurements in the GRASP code. In order to see the goodness of these retrieved profiles, three photometers at different altitudes have been used. The aerosol optical depth (AOD) at different height layers have been calculated with these photometers and it has been compared against the integrated retrieved extinction at the same layers. The obtained AOD (from GRASP and from photometers at different altitudes) correlates well, showing the most of r2 values above 0.6. The differences between both AOD values indicates that the retrieved aerosol extinction profiles are within the uncertainty of the photometers but this method overestimates the extinction at low levels and underestimates at high levels.
关键词： Validation,GRASP,Aerosol Optical Depth,Aerosol Extinction,Ceilometer
更新于2025-09-23 15:21:21
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Visual servoing for low-cost SCARA robots using an RGB-D camera as the only sensor
摘要： Visual servoing with a simple, two-step hand–eye calibration for robot arms in Selective Compliance Assembly Robot Arm configuration, along with the method for simple vision-based grasp planning, is proposed. The proposed approach is designed for low-cost, vision-guided robots, where tool positioning is achieved by visual servoing using marker tracking and depth information provided by an RGB-D camera, without encoders or any other sensors. The calibration is based on identification of the dominant horizontal plane in the camera field of view, and an assumption that all robot axes are perpendicular to the identified plane. Along with the plane parameters, one rotational movement of the shoulder joint provides sufficient information for visual servoing. The grasp planning is based on bounding boxes of simple objects detected in the RGB-D image, which provide sufficient information for robot tool positioning, gripper orientation and opening width. The developed methods are experimentally tested using a real robot arm. The accuracy of the proposed approach is analysed by measuring the positioning accuracy as well as by performing grasping experiments.
关键词： Visual servoing,grasp planning,SCARA,low-cost robot arm,hand–eye calibration
更新于2025-09-04 15:30:14