Search results for "Visual servoing"
showing 7 items of 7 documents
Fast Earth Mover's Distance Computation for Catadioptric Image Sequences
2016
International audience; Earth mover's distance is one of the most effective metric for comparing histograms in various image retrieval applications. The main drawback is its computational complexity which hinders its usage in various comparison tasks. We propose fast earth mover's distance computation by providing better initialization to the transportation simplex algorithm. The new approach enables faster EMD computation in Visual Memory (VM) compared to the state of the art methods. The new proposed strategy computes earth mover distance without compromising its accuracy.
Remote control within the UJI Robotics Manufacturing Cell using FPGA-based vision
2007
In this paper we present a work in progress of a new remote control system based on networked robots and FPGAs technology. The experimental validation has been carried out within the UJI (i.e. the acronym for University Jaume I) Robotics Manufacturing Cell. The main devices included in this Cell are: a SCARA manipulator (AdeptOne), a robot arm with six degrees of freedom (Motoman), an industrial belt, several sensors and cameras, an FPGA that takes care of the computer vision algorithms (i.e. including grasping determination), and a distributed architecture that allows any user to control remotely via Internet a specific manufacturing task. The different components of this system are connec…
Visual Servoing Based on Shifted Moments
2015
Over the past decade, image moments have been exploited in several visual servoing schemes for their ability to represent object regions, objects defined by contours or a set of discrete points. Moments have also been useful to achieve control decoupling properties and to choose a minimal number of features to control the whole degrees of freedom (DOFs) of a camera. However, the choice of moment-based features to control the rotational motions around the $x$ -axis and $y$ -axis simultaneously with the translational motions along the same axis remains a key issue. In this paper, we introduce new visual features computed from low-order “shifted moments invariant.” Importantly, they allow us 1…
Visual servo control using orthinormal polynomial
2003
This paper describes an application of the visual servoing approach to vision-based control in robotics. The basic idea addresses the use of a vision sensor in the feedback loop within the controlled vision framework. It consists in tracking of arbitrary 3-D objects travelling at unknown velocities in a 2-D space (depth is given as known). Once the necessary modeling stage is performed, the framework becomes one of automatic control, and naturally stability, performance and robustness questions arise. Here, we consider to track line segments corresponding to the edges extracted from the image being analyzed. Two representations for a line segment are presented and discussed, and an appropri…
Subsequent Keyframe Generation for Visual Servoing
2021
International audience; In this paper, we study the problem of autonomous and reliable positioning of a camera w.r.t. an object when only this latter is known but not the rest of the scene. We propose to combine the advantages and efficiency of a visual servoing scheme and the generalization ability of a generative adversarial network. The paper describes how to efficiently create a synthetic dataset in order to train a network that predicts an intermediate visual keyframe between two images. Subsequent predictions are used as visual features to autonomously converge towards the desired pose even for large displacements. We show that the proposed method can be used without any prior knowled…
A Neural Architecture for Segmentation and Modelling of Range Data
2003
A novel, two stage, neural architecture for the segmentation of range data and their modeling with undeformed superquadrics is presented. The system is composed by two distinct neural stages: a SOM is used to perform data segmentation, and, for each segment, a multi-layer feed-forward network performs model estimation. The topology preserving nature of the SOM algorithm makes this architecture suited to cluster data with respect to sudden curvature variations. The second stage is designed to model and compute the inside-outside function of an undeformed superquadric in whatever attitude, starting form the (x, y, z) data triples. The network has been trained using backpropagation, and the we…
AcouMotion – An Interactive Sonification System for Acoustic Motion Control
2006
This paper introduces AcouMotion as a new hard-/software system for combining human body motion, tangible interfaces and sonification to a closed-loop human computer interface that allows non-visual motor control by using sonification (non-speech auditory displays) as major feedback channel. AcouMotion's main components are (i) a sensor device for measuring motion parameters (ii) a computer simulation to represent the dynamical evolution of a model world, and (iii) a sonification engine which generates an auditory representation of objects and any interactions in the model world. The intended applications of AcouMotion range from new kinds of sport games that can be played without visual di…