Homography-based grasp tracking for planar objects

被引：3
|
作者：
Carloni, R [1 ]
Recatalá, G [1 ]
Melchiorri, C [1 ]
Sanz, PJ [1 ]
Cervera, E [1 ]
机构：
[1] Univ Bologna, DEIS, Dept Elect Comp Sci & Syst, LAR, I-40136 Bologna, Italy
来源：
2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年
关键词：
D O I：
10.1109/ROBOT.2004.1307246
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The visual tracking of grasp points is an essential operation for the execution of an approaching movement of a robot arm to an object: the grasp points are used as features for the definition of the control law. This paper describes a strategy for tracking grasps on planar objects based on the use of a homography. In particular, the homography is used for transferring (translating) a grasp from a view of an object to a second one, providing in this way a correspondence in the second view. The grasp tracking procedure combines the search of a new grasp with the translation and the evaluation of that grasp between object views. Results of the proposed grasp tracking strategy are shown in case of grasps computed for a two-finger and a three-finger gripper.
引用
收藏
页码：795 / 800
页数：6
相关论文
共 50 条
  • [21] Adaptive Homography-Based Visual Servo Tracking Control via a Quaternion Formulation
    Hu, Guoqiang
    Gans, Nicholas
    Fitz-Coy, Norman
    Dixon, Warren
    [J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2010, 18 (01) : 128 - 135
  • [22] A Real-Time Homography-Based Tracking Method for Tracking Deformable Tumor Motion in Fluoroscopy
    Zhang, Xiaoyong
    Homma, Noriyasu
    Ichiji, Kei
    Sugita, Norihiro
    Takai, Yoshihiro
    Yoshizawa, Makoto
    [J]. 2016 55TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE), 2016, : 1673 - 1677
  • [23] Robust homography-based visual servo control for a quadrotor UAV tracking a moving target
    Huang, Yanting
    Zhu, Ming
    Chen, Tian
    Zheng, Zewei
    [J]. JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2023, 360 (03): : 1953 - 1977
  • [24] Homography-Based Predictive Control for Visual Servoing
    Ji, Jing
    He, Guannan
    [J]. MIPPR 2011: REMOTE SENSING IMAGE PROCESSING, GEOGRAPHIC INFORMATION SYSTEMS, AND OTHER APPLICATIONS, 2011, 8006
  • [25] Homography-based depth recovery with descent images
    Meng, Cai
    Zhou, Na
    Xue, Xiaoliang
    Jia, Yang
    [J]. MACHINE VISION AND APPLICATIONS, 2013, 24 (05) : 1093 - 1106
  • [26] Homography-based depth recovery with descent images
    Cai Meng
    Na Zhou
    Xiaoliang Xue
    Yang Jia
    [J]. Machine Vision and Applications, 2013, 24 : 1093 - 1106
  • [27] Homography-based visual control of nonholonomic vehicles
    Lopez-Nicolas, G.
    Saguees, C.
    Guerrero, J. J.
    [J]. PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, : 1703 - +
  • [28] Homography-Based Robust Pose Estimation Method
    Liu Xi
    Fang Y
    Zhang Xuebo
    [J]. Proceedings of the 27th Chinese Control Conference, Vol 5, 2008, : 410 - 414
  • [29] Homography-Based PnP Solution to Reject Outliers
    Jiang, Cuicui
    Hu, Qinglei
    Li, Haoran
    Li, Dongyu
    [J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, 2022, 71
  • [30] Homography-based platooning control of mobile robots
    Cao, Yu
    Liu, Shan
    [J]. Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2019, 36 (09): : 1382 - 1390
12345