- 标题
- 摘要
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- 实验方案
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Experimental verification of turbidity tolerance of stereo-vision-based 3D pose estimation system
摘要： This paper presents the verification of the turbidity tolerance of a stereo-vision-based 3D pose estimation system for underwater docking applications. To the best of the authors’ knowledge, no studies have yet been conducted on 3D pose (position and orientation) estimation against turbidity for underwater vehicles. Therefore, the effect of turbidity on the 3D pose estimation performance of underwater vehicles and a method of operating under turbid conditions were studied in this work. A 3D pose estimation method using the real-time multi-step genetic algorithm (RM-GA) proposed by the authors in the previous works shows robust pose estimation performance against changing environmental conditions. This paper discusses how and why the RM-GA is well suited to effective 3D pose estimation, even when turbid conditions disturb visual servoing. The experimental results confirm the performance of the proposed 3D pose estimation system under different levels of turbidity. To demonstrate the practical usefulness of the RM-GA, docking experiments were conducted in a turbid pool and a real sea environment to verify the performance and tolerance of the proposed system under turbid conditions. The experimental results verify the robustness of the system against turbidity, presenting a possible solution to a major problem in the field of robotics.
关键词： Robustness against turbidity,Real-time multi-step genetic algorithm,Sea docking,3D pose estimation,Stereo-vision,Visual servoing
更新于2025-09-23 15:23:52
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Moment-based 2 1/2D visual servoing for texture-less planar part grasping
摘要： Conventional moment-based visual servoing methods suffer from several problems in industrial applications due to the utilization of high-order image moments. In this paper, we analyze the shortcomings of the moment-based visual servoing from the viewpoint of practical industrial applications, and propose a novel moment-based 2 1/2D visual servoing method for grasping textureless planar parts. We use hybrid visual features that combine image moments with 3D rotation in the Cartesian space to control the robot motion. Instead of applying high-order image moments, we use rotation features, which provide a decoupled interaction matrix that is full rank and with no local minimum in the control scheme. Furthermore, to estimate the relative rotation of the textureless part in real time, a new estimation method based on a cross-correlation analysis is proposed. The proposed visual servoing method provides a better motion control and 3D trajectory of the robot arm and remains stable in the workspace. Experimental results demonstrated the effectiveness of the method.
关键词： hybrid visual features,textureless part,Moment-based visual servoing
更新于2025-09-23 15:22:29
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Passively mode-locked 2.7 and 3.2 ??m GaSb-based cascade diode lasers
摘要： This paper presents an online image-based visual servoing (IBVS) controller for a 6-degrees-of-freedom (DOF) robotic system based on the robust model predictive control (RMPC) method. The controller is designed considering the robotic visual servoing system’s input and output constraints, such as robot physical limitations and visibility constraints. The proposed IBVS controller avoids the inverse of the image Jacobian matrix and hence can solve the intractable problems for the classical IBVS controller, such as large displacements between the initial and the desired positions of the camera. To verify the effectiveness of the proposed algorithm, real-time experimental results on a 6-DOF robot manipulator with eye-in-hand configuration are presented and discussed.
关键词： visual servoing,Image-based visual servoing (IBVS),robotic,model predictive controller (MPC)
更新于2025-09-23 15:21:01
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Visual Servoing With Photometric Gaussian Mixtures as Dense Feature
摘要： The direct use of the entire photometric image information as dense feature for visual servoing brings several advantages. First, it does not require any feature detection, matching, or tracking process. Thanks to the redundancy of visual information, the precision at convergence is really accurate. However, the corresponding highly nonlinear cost function reduces the convergence domain. In this paper, we propose a visual servoing based on the analytical formulation of Gaussian mixtures to enlarge the convergence domain. Pixels are represented by two-dimensional Gaussian functions that denotes a “power of attraction.” In addition to the control of the camera velocities during the servoing, we also optimize the Gaussian spreads allowing the camera to precisely converge to a desired pose even from a far initial one. Simulations show that our approach outperforms the state of the art and real experiments show the effectiveness, robustness, and accuracy of our approach.
关键词： photometric Gaussian mixture,Large convergence domain,visual servoing
更新于2025-09-23 15:21:01
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[IEEE 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Madrid, Spain (2018.10.1-2018.10.5)] 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Image-Based Visual Servoing Controller for Multirotor Aerial Robots Using Deep Reinforcement Learning
摘要： In this paper, we propose a novel Image-Based Visual Servoing (IBVS) controller for multirotor aerial robots based on a recent deep reinforcement learning algorithm named Deep Deterministic Policy Gradients (DDPG). The proposed RL-IBVS controller is successfully trained in a Gazebo-based simulation scenario in order to learn the appropriate IBVS policy for directly mapping a state, based on errors in the image, to the linear velocity commands of the aerial robot. A thorough validation of the proposed controller has been conducted in simulated and real flight scenarios, demonstrating outstanding capabilities in object following applications. Moreover, we conduct a detailed comparison of the RL-IBVS controller with respect to classic and partitioned IBVS approaches.
关键词： Real Flight Experiments,Image-Based Visual Servoing,Deep Reinforcement Learning,Simulation,Aerial Robots,DDPG
更新于2025-09-19 17:15:36
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[IEEE 2019 International Conference on Smart Systems and Inventive Technology (ICSSIT) - Tirunelveli, India (2019.11.27-2019.11.29)] 2019 International Conference on Smart Systems and Inventive Technology (ICSSIT) - Transmission and Reflection Grating coupled Optical Waveguide Structures
摘要： This paper presents an online image-based visual servoing (IBVS) controller for a 6-degrees-of-freedom (DOF) robotic system based on the robust model predictive control (RMPC) method. The controller is designed considering the robotic visual servoing system’s input and output constraints, such as robot physical limitations and visibility constraints. The proposed IBVS controller avoids the inverse of the image Jacobian matrix and hence can solve the intractable problems for the classical IBVS controller, such as large displacements between the initial and the desired positions of the camera. To verify the effectiveness of the proposed algorithm, real-time experimental results on a 6-DOF robot manipulator with eye-in-hand configuration are presented and discussed.
关键词： Image-based visual servoing (IBVS),model predictive controller (MPC),robotic,visual servoing
更新于2025-09-19 17:13:59
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Visual Docking Against Bubble Noise With 3-D Perception Using Dual-Eye Cameras
摘要： Recently, many studies have been performed worldwide to extend the persistence of underwater operations by autonomous underwater vehicles. Underwater battery recharging technology is one of the solutions even though challenges still remain. The docking function plays an important role not only in battery recharging but also in other advanced applications, such as intervention. Visual servoing in undersea environments inevitably encounters difficulties in recognizing the environment when captured images are disturbed by noise. This study describes the effective recognition performance and robustness against air bubble disturbances in images captured by a real-time position and orientation (pose) tracking and servoing system using stereo vision for a visual-servoing-type underwater vehicle. The recognition of the vehicle pose based on dynamic images captured by dual video cameras was performed by a real-time multistep genetic algorithm (RM-GA). In previous studies, the docking performance was investigated under the condition that there were no disturbances in the captured images that address image degradation. In this paper, the robustness of the RM-GA against air bubble disturbances was verified through visual servoing and docking experiments in a pool test to confirm that the system can continue to recognize the pose of the 3-D marker and can maintain the desired pose by visual servoing. Then, the effectiveness of the proposed system against real disturbances such as turbidity that may degrade the visibility of the system in the sea was confirmed by conducting the docking experiment in a real sea, having verified the practicality of the proposed method.
关键词： genetic algorithm (GA),Air bubble noises,visual servoing,dual-eye cameras,underwater vehicle
更新于2025-09-11 14:15:04
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Quality Inspection of Remote Radio Units using Depth-free Image based Visual Servo with Acceleration Command
摘要： The problem of quality inspection of remote radio unit (RRU) has been approached using the image based visual servo (IBVS) control. A novel computer vision pipeline has been designed which recognized the power port of RRU and tracked it from the stream of images. For control part, a new depth independent interaction matrix was designed which related the depth information with the area of the region of interest (ROI) surrounding the power port. Based on this, an acceleration command was generated to drive the robot’s trajectories. Furthermore, a PD type controller was designed based on the idea of sliding surface in variable structure control. This reduced the number of design parameters to a single parameter. The designed controllers were proven to be stable using the Lyapunov stability analysis. Simulation results and experimental validations were provided to support the research arguments.
关键词： industrial manipulation,object recognition,automatic optical inspection,visual servoing,multi-view object tracking
更新于2025-09-09 09:28:46
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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