Binocular visual tracking and grasping of a moving object with a 3D trajectory

This paper presents a binocular eye-to-hand visual servoing system that is able to track and grasp a moving object in real time. Linear predictors are employed to estimate the object trajectory in three dimensions and are capable of predicting future positions even if the object is temporarily occlu...

Full description

Bibliographic Details
Authors: Fuentes-Pacheco, J., Ruiz-Ascencio, J., Rendón-Mancha, J. M.
Format: article
Status:Published version
Publication Date:2009
Country:México
Institution:UNIVERSIDAD NACIONAL AUTÓNOMA DE MÉXICO
Repository:Journal of Applied Research and Technology
Language:English
OAI Identifier:oai:ojs2.localhost:article/486
Online Access:https://jart.icat.unam.mx/index.php/jart/article/view/486
Access Level:Open access
Keyword:linear prediction
visual servoing
tracking
grasping
stereo vision
camera calibration
Predicción lineal
servo control visual
seguimiento
visión estéreo
calibración de cámaras
id MX_9fcd7c4baffbdd899f9b61a7cfda30ec
oai_identifier_str oai:ojs2.localhost:article/486
network_acronym_str MX
network_name_str México
repository_id_str
spelling Binocular visual tracking and grasping of a moving object with a 3D trajectoryBinocular visual tracking and grasping of a moving object with a 3D trajectory predictorFuentes-Pacheco, J.Ruiz-Ascencio, J.Rendón-Mancha, J. M.linear predictionvisual servoingtrackinggraspingstereo visioncamera calibrationPredicción linealservo control visualseguimientovisión estéreocalibración de cámarasThis paper presents a binocular eye-to-hand visual servoing system that is able to track and grasp a moving object in real time. Linear predictors are employed to estimate the object trajectory in three dimensions and are capable of predicting future positions even if the object is temporarily occluded. For its development we have used a CRS T475 manipulator robot with six degrees of freedom and two fixed cameras in a stereo pair configuration. The system has a client?server architecture and is composed of two main parts: the vision system and the control system. The vision system uses color detection to extract the object from the background and a tracking technique based on search windows and object moments. The control system uses the RobWork library to generate the movement instructions and to send them to a C550 controller by means of the serial port. Experimental results are presented to verify the validity and the efficacy of the proposed visual servoing system.En este trabajo se presenta un sistema servo control visual binocular eye?to?hand capaz de seguir y asir un objeto móvil en tiempo real. Se utilizaron predictores lineales para estimar la trayectoria del objeto en tres dimensiones, estos son capaces de predecir futuras posiciones incluso si el objeto es temporalmente ocluido. Para su desarrollo se utiliza un robot manipulador CRS T475 de seis grados de libertad y dos cámaras fijas con una configuración de par estéreo. El  sistema tiene una arquitectura cliente?servidor y se compone de dos partes principales: el sistema de visión y el sistema de control. El sistema de visión utiliza una detección por color para extraer el objeto del fondo y una técnica de seguimiento basada en ventanas de búsqueda y momentos del objeto. El sistema de control emplea la librería RobWork para generar las instrucciones de movimiento y enviarlas a un controlador C550 por medio del puerto serial. Se presentan resultados experimentales para verificar la validez y eficacia del sistema servo control visual.Universidad Nacional Autónoma de México2009-12-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionPeer-reviewed Articleapplication/pdfhttps://jart.icat.unam.mx/index.php/jart/article/view/48610.22201/icat.16656423.2009.7.03.486Journal of Applied Research and Technology; Vol. 7 No. 03Journal of Applied Research and Technology; Vol. 7 Núm. 032448-67361665-642310.22201/icat.24486736e.2009.7.03reponame:Journal of Applied Research and Technologyinstname:UNIVERSIDAD NACIONAL AUTÓNOMA DE MÉXICOinstacron:UNAMenghttps://jart.icat.unam.mx/index.php/jart/article/view/486/482Copyright (c) 2018 Journal of Applied Research and Technologyinfo:eu-repo/semantics/openAccessoai:ojs2.localhost:article/4862024-08-16T17:54:16Z
dc.title.none.fl_str_mv Binocular visual tracking and grasping of a moving object with a 3D trajectory
Binocular visual tracking and grasping of a moving object with a 3D trajectory predictor
title Binocular visual tracking and grasping of a moving object with a 3D trajectory
spellingShingle Binocular visual tracking and grasping of a moving object with a 3D trajectory
Fuentes-Pacheco, J.
linear prediction
visual servoing
tracking
grasping
stereo vision
camera calibration
Predicción lineal
servo control visual
seguimiento
visión estéreo
calibración de cámaras
title_short Binocular visual tracking and grasping of a moving object with a 3D trajectory
title_full Binocular visual tracking and grasping of a moving object with a 3D trajectory
title_fullStr Binocular visual tracking and grasping of a moving object with a 3D trajectory
title_full_unstemmed Binocular visual tracking and grasping of a moving object with a 3D trajectory
title_sort Binocular visual tracking and grasping of a moving object with a 3D trajectory
dc.creator.none.fl_str_mv Fuentes-Pacheco, J.
Ruiz-Ascencio, J.
Rendón-Mancha, J. M.
author Fuentes-Pacheco, J.
author_facet Fuentes-Pacheco, J.
Ruiz-Ascencio, J.
Rendón-Mancha, J. M.
author_role author
author2 Ruiz-Ascencio, J.
Rendón-Mancha, J. M.
author2_role author
author
dc.subject.none.fl_str_mv linear prediction
visual servoing
tracking
grasping
stereo vision
camera calibration
Predicción lineal
servo control visual
seguimiento
visión estéreo
calibración de cámaras
topic linear prediction
visual servoing
tracking
grasping
stereo vision
camera calibration
Predicción lineal
servo control visual
seguimiento
visión estéreo
calibración de cámaras
description This paper presents a binocular eye-to-hand visual servoing system that is able to track and grasp a moving object in real time. Linear predictors are employed to estimate the object trajectory in three dimensions and are capable of predicting future positions even if the object is temporarily occluded. For its development we have used a CRS T475 manipulator robot with six degrees of freedom and two fixed cameras in a stereo pair configuration. The system has a client?server architecture and is composed of two main parts: the vision system and the control system. The vision system uses color detection to extract the object from the background and a tracking technique based on search windows and object moments. The control system uses the RobWork library to generate the movement instructions and to send them to a C550 controller by means of the serial port. Experimental results are presented to verify the validity and the efficacy of the proposed visual servoing system.
publishDate 2009
dc.date.none.fl_str_mv 2009-12-01
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
Peer-reviewed Article
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://jart.icat.unam.mx/index.php/jart/article/view/486
10.22201/icat.16656423.2009.7.03.486
url https://jart.icat.unam.mx/index.php/jart/article/view/486
identifier_str_mv 10.22201/icat.16656423.2009.7.03.486
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv https://jart.icat.unam.mx/index.php/jart/article/view/486/482
dc.rights.none.fl_str_mv Copyright (c) 2018 Journal of Applied Research and Technology
info:eu-repo/semantics/openAccess
rights_invalid_str_mv Copyright (c) 2018 Journal of Applied Research and Technology
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Universidad Nacional Autónoma de México
publisher.none.fl_str_mv Universidad Nacional Autónoma de México
dc.source.none.fl_str_mv Journal of Applied Research and Technology; Vol. 7 No. 03
Journal of Applied Research and Technology; Vol. 7 Núm. 03
2448-6736
1665-6423
10.22201/icat.24486736e.2009.7.03
reponame:Journal of Applied Research and Technology
instname:UNIVERSIDAD NACIONAL AUTÓNOMA DE MÉXICO
instacron:UNAM
instname_str UNIVERSIDAD NACIONAL AUTÓNOMA DE MÉXICO
instacron_str UNAM
institution UNAM
reponame_str Journal of Applied Research and Technology
collection Journal of Applied Research and Technology
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1858176337202642944
score 15,811543

Similar Items