Hand-Eye Motion-Invariant Pose Estimation with Online 1-Step GA -3D Pose Tracking Accuracy Evaluation in Dynamic Hand-Eye Oscillation-
Mamoru Minami and Wei Song
Department of Human and Artificial Intelligence Systems, University of Fukui 3-9-1 Bunkyo, Fukui 910-0017, Japan
This paper presents online pose measurement for a 3-dimensional (3-D) object detected by stereo hand-eye cameras. Our proposal improves 3-D pose tracking accuracy by compensating for the fictional motion of the target in camera images stemming from the ego motion of the hand-eye camera caused by dynamic manipulator oscillation. This motion feed-forward (MFF) is combined into the evolutionary search of a genetic algorithm (GA) and fitness evaluation based on stereo model matching whose pose is expressed using a unit quaternion. The proposal’s effectiveness was confirmed in simulation tracking an object’s 3-D pose adversely affected by hand-eye camera oscillations induced by dynamic effects of robot motion.
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