Title :
On-line stable evolutionary recognition by quaternion motion-feedforward compensation
Author :
Song, Wei ; Minami, Mamoru ; Mae, Yasushi ; Aoyagi, Seiji
Author_Institution :
Univ. of Fukui, Fukui
Abstract :
This paper presents a pose measurement method of a 3D object. The proposed method utilizes an evolutionary search technique of a genetic algorithm (GA) and a fitness evaluation based on a matching stereo model whose pose is expressed by unit quaternion. To improve the dynamics of recognition, a motion-feedforward compensation method is proposed for the hand-eye system. The effectiveness of the proposed method is confirmed by simulation experiments.
Keywords :
feedforward; genetic algorithms; motion compensation; object recognition; pose estimation; 3D object; evolutionary search technique; fitness evaluation; genetic algorithm; hand-eye system; matching stereo model; online stable evolutionary recognition; pose measurement; quaternion motion-feedforward compensation; unit quaternion; Cameras; Image recognition; Machine vision; Manipulator dynamics; Nonlinear dynamical systems; Quaternions; Robot vision systems; Solid modeling; Target recognition; Visual servoing; 3D pose measurement; GA; motion-feedforward compensation;
Conference_Titel :
SICE, 2007 Annual Conference
Conference_Location :
Takamatsu
Print_ISBN :
978-4-907764-27-2
Electronic_ISBN :
978-4-907764-27-2
DOI :
10.1109/SICE.2007.4421134
