Visual Servoing in a Cable Robot Using Microsoft Kinect v2 Sensor

被引：0

作者：

Nabipour, Maryam Sadat ^{[1
]}

Arteghzadeh, Nima ^{[1
]}

Moosavian, S. Ali A. ^{[1
]}

Nasr, Ali ^{[1
]}

机构：

[1] KN Toosi Univ Technol, Ctr Excellence Robot & Control, Adv Robot & Automated Syst ARAS Lab, Dept Mech Engn, Tehran, Iran

来源：

2016 4TH RSI INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM) | 2016年

关键词：

Visual Servoing; Kinect v2; Object tracking; Cable robot; OBJECT TRACKING; SYSTEM;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Tracking the 3D pose of an object plays an important role in many applications. However, it has been a challenging problem in visual servoing systems due to high-cost sensors and requiring some invasive changes for the object or environment. This paper is focused on tracking an object using the low-cost Microsoft Kinect sensor. The goal is tracking an object with a parallel cable robot's moving platform (MP) simulator by the Kinect sensor. Two different methods by using Kinect sensor will be introduced. The first is based on a color-base technique (Camshift) in MATLAB, while the second exploits the color and depth information using OpenCV library. Finally, these methods are experimentally implemented to generate the desired path for the parallel cable robot simulator.

引用

页码：560 / 565

页数：6

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