Visual Servoing and Robust Object Manipulation Using Symmetries and Conformal Geometric Algebra
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Fecha
2014-11-20
Autores
Osuna-González, G.
González-Jiménez, Luis E.
Carbajal-Espinosa, O.
Loukianov, Alexander
Bayro-Corrochano, Eduardo
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Editor
IEEE
Resumen
Descripción
Object tracking and manipulation is an important process for many applications in robotics and computer vision. A novel 3D pose estimation of objects using reflectionally symmetry formulated in Conformal Geometric Algebra (CGA) is proposed in this work. The synthesis of the kinematics model for robots and a sliding mode controller using the CGA approach is described. Real time implementation results are presented for the pose estimation of object using a stereo vision system.
Palabras clave
Symmetries, Object Manipulation, Visual Servoing
Citación
Osuna-González, G.; Gonzalez-Jimenez, L.E.; Carbajal-Espinosa, O.; Loukianov, A.; Bayro-Corrochano, E. (2014). Visual Servoing and Robust Object Manipulation Using Symmetries and Conformal Geometric Algebra. 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids); Madrid, Spain, November 18-20.