comunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7036
comunitat-uji-handle3:10234/8620
comunitat-uji-handle4:
INVESTIGACION
Resumen
In this paper, we present a Bayesian algorithm
based on particle filters to estimate the camera pose
for vision-based control. The state model is represented
as a relative camera pose between the current and
initial ... [+]
In this paper, we present a Bayesian algorithm
based on particle filters to estimate the camera pose
for vision-based control. The state model is represented
as a relative camera pose between the current and
initial camera frames. The particles in the prior motion
model are drawn using the velocity control signal
collected from the visual controller of the robot. The
pose samples are evaluated using an epipolar geometry
measurement model and a suitable weight is associated
with each sample. The algorithm takes advantage of
the a priori knowledge about motion, i.e., the velocity
computed by the visual servo control, to estimate
the magnitude of the translation in addition to its
direction, hence producing a full camera motion estimate.
Its application to position-based visual servoing is
demonstrated. Experiments are carried out using a real
robot setup. The results show the efficiency of the
proposed filter over the motion measurements of the
robot. In addition, the filter was able to recover the split
performed by the robot joints. [-]
Derechos de acceso
info:eu-repo/semantics/openAccess