Hand-eye robotic visual servoing around moving objects using active deformable models

Philippe A. Couvignou; Nikolaos R. Papanikolopoulos; Pradeep K. Khosla

doi:10.1109/IROS.1992.601482

Hand-eye robotic visual servoing around moving objects using active deformable models

Philippe A. Couvignou, Nikolaos R. Papanikolopoulos, Pradeep K. Khosla

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Scopus citations

Abstract

This paper presents a new approach for visual tracking and servoing in robotics. We introduce deformable active models as a powerful means for tracking a rigid object in movement within the manipulator's workspace. Deformable models imitate, in real-time, the dynamic behavior of elastic structures. These computer-generated models are designed to capture the silhouette of rigid objects with well-defined boundaries, in terms of image gradient. By means of an eye-in-hand robot arm configuration, the desired motion of the end-effector is computed with the objective of keeping the target's position and shape invariant with respect to the camera frame. Optimal estimation and control techniques (LQG regulator) have been successfully implemented in order to deal with noisy measurements provided by our vision sensor. Experimental results are presented for the tracking of a rigid objcct moving in a plane parallel to the image plane (three degree-of-freedom visual servoing). The experiments performed in a real-time environment show the effectiveness and robustness of the proposed method for servoing tasks based on visual feedback control.

Original language	English (US)
Title of host publication	IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publication	Sensor-Based Robotics and Opportunties for its Industrial Applications
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1855-1862
Number of pages	8
ISBN (Electronic)	0780307372
DOIs	https://doi.org/10.1109/IROS.1992.601482
State	Published - 1992
Externally published	Yes
Event	1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 - Raleigh, United States Duration: Jul 7 1992 → Jul 10 1992

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	3
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992
Country	United States
City	Raleigh
Period	7/7/92 → 7/10/92

Bibliographical note

Funding Information:
This research was supported in part by the Defense Advanced Research Projects Agency, through ARPA Order Number DAAA-2 1- 89C-000 1. Partial support for Philippe Couvignou was provided by Rhgie Nationale des Usines Renault SA.. Direction de la Rec.herciie, under an exchange program VSNA (Volontaires Service National Acta. The views and conclusions expressed in this document are those of the authors, and do not necessarily reflect the official policies, either expressed or implied, of the funding agencies. We are also grateful to Innovision Inc. for providing us with the image processing equipment.

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10.1109/IROS.1992.601482

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Couvignou, P. A., Papanikolopoulos, N. R., & Khosla, P. K. (1992). Hand-eye robotic visual servoing around moving objects using active deformable models. In IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications (pp. 1855-1862). [601482] (IEEE International Conference on Intelligent Robots and Systems; Vol. 3). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.1992.601482

Hand-eye robotic visual servoing around moving objects using active deformable models. / Couvignou, Philippe A.; Papanikolopoulos, Nikolaos R.; Khosla, Pradeep K.

IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications. Institute of Electrical and Electronics Engineers Inc., 1992. p. 1855-1862 601482 (IEEE International Conference on Intelligent Robots and Systems; Vol. 3).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Couvignou, PA, Papanikolopoulos, NR & Khosla, PK 1992, Hand-eye robotic visual servoing around moving objects using active deformable models. in IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications., 601482, IEEE International Conference on Intelligent Robots and Systems, vol. 3, Institute of Electrical and Electronics Engineers Inc., pp. 1855-1862, 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992, Raleigh, United States, 7/7/92. https://doi.org/10.1109/IROS.1992.601482

Couvignou PA, Papanikolopoulos NR, Khosla PK. Hand-eye robotic visual servoing around moving objects using active deformable models. In IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications. Institute of Electrical and Electronics Engineers Inc. 1992. p. 1855-1862. 601482. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.1992.601482

Couvignou, Philippe A. ; Papanikolopoulos, Nikolaos R. ; Khosla, Pradeep K. / Hand-eye robotic visual servoing around moving objects using active deformable models. IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications. Institute of Electrical and Electronics Engineers Inc., 1992. pp. 1855-1862 (IEEE International Conference on Intelligent Robots and Systems).

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abstract = "This paper presents a new approach for visual tracking and servoing in robotics. We introduce deformable active models as a powerful means for tracking a rigid object in movement within the manipulator's workspace. Deformable models imitate, in real-time, the dynamic behavior of elastic structures. These computer-generated models are designed to capture the silhouette of rigid objects with well-defined boundaries, in terms of image gradient. By means of an eye-in-hand robot arm configuration, the desired motion of the end-effector is computed with the objective of keeping the target's position and shape invariant with respect to the camera frame. Optimal estimation and control techniques (LQG regulator) have been successfully implemented in order to deal with noisy measurements provided by our vision sensor. Experimental results are presented for the tracking of a rigid objcct moving in a plane parallel to the image plane (three degree-of-freedom visual servoing). The experiments performed in a real-time environment show the effectiveness and robustness of the proposed method for servoing tasks based on visual feedback control.",

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note = "Funding Information: This research was supported in part by the Defense Advanced Research Projects Agency, through ARPA Order Number DAAA-2 1- 89C-000 1. Partial support for Philippe Couvignou was provided by Rhgie Nationale des Usines Renault SA.. Direction de la Rec.herciie, under an exchange program VSNA (Volontaires Service National Acta. The views and conclusions expressed in this document are those of the authors, and do not necessarily reflect the official policies, either expressed or implied, of the funding agencies. We are also grateful to Innovision Inc. for providing us with the image processing equipment.; 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 ; Conference date: 07-07-1992 Through 10-07-1992",

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N2 - This paper presents a new approach for visual tracking and servoing in robotics. We introduce deformable active models as a powerful means for tracking a rigid object in movement within the manipulator's workspace. Deformable models imitate, in real-time, the dynamic behavior of elastic structures. These computer-generated models are designed to capture the silhouette of rigid objects with well-defined boundaries, in terms of image gradient. By means of an eye-in-hand robot arm configuration, the desired motion of the end-effector is computed with the objective of keeping the target's position and shape invariant with respect to the camera frame. Optimal estimation and control techniques (LQG regulator) have been successfully implemented in order to deal with noisy measurements provided by our vision sensor. Experimental results are presented for the tracking of a rigid objcct moving in a plane parallel to the image plane (three degree-of-freedom visual servoing). The experiments performed in a real-time environment show the effectiveness and robustness of the proposed method for servoing tasks based on visual feedback control.

AB - This paper presents a new approach for visual tracking and servoing in robotics. We introduce deformable active models as a powerful means for tracking a rigid object in movement within the manipulator's workspace. Deformable models imitate, in real-time, the dynamic behavior of elastic structures. These computer-generated models are designed to capture the silhouette of rigid objects with well-defined boundaries, in terms of image gradient. By means of an eye-in-hand robot arm configuration, the desired motion of the end-effector is computed with the objective of keeping the target's position and shape invariant with respect to the camera frame. Optimal estimation and control techniques (LQG regulator) have been successfully implemented in order to deal with noisy measurements provided by our vision sensor. Experimental results are presented for the tracking of a rigid objcct moving in a plane parallel to the image plane (three degree-of-freedom visual servoing). The experiments performed in a real-time environment show the effectiveness and robustness of the proposed method for servoing tasks based on visual feedback control.

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Hand-eye robotic visual servoing around moving objects using active deformable models

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