Title :
Scene adaptive RGB-D based oscillation sensing for a multi flexible link robot arm in unstructured dynamic environments
Author :
Malzahn, J. ; Phung, A.S. ; Bertram, T.
Author_Institution :
Inst. of Control Theor. & Syst. Eng., Tech. Univ. Dortmund, Dortmund, Germany
Abstract :
The paper experimentally compares six visual oscillation sensing approaches for a three degrees of freedom flexible link robot arm with an eye-in-hand RGB-D camera. The comparison includes five representative scenarios. Based upon the results the authors propose a novel scene adaptive camera motion reconstruction scheme. The scheme adaptively selects the best approach according to the actual scene texture and depth profile. Experiments in indoor scenarios with sparse texture, poor depth profiles as well as dynamic scene contents approve the obtained signal quality to be well suited for visual vibration damping of flexible link robot arms in a great variety of frequently observed scenarios.
Keywords :
cameras; damping; dexterous manipulators; flexible manipulators; image reconstruction; image texture; motion estimation; natural scenes; robot vision; vibration control; depth profile; dynamic scene contents; eye-in-hand RGB-D camera; indoor scenarios; multiflexible link robot arm; scene adaptive RGB-D; scene adaptive camera motion reconstruction scheme; scene texture; signal quality; sparse texture; three-degrees of freedom flexible link robot arm; unstructured dynamic environments; visual oscillation sensing; visual vibration damping; Cameras; Image reconstruction; Iterative closest point algorithm; Oscillators; Robot sensing systems; Visualization; 3D computer vision; Multi link flexible robots; visual oscillation sensing;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
Print_ISBN :
978-1-4673-1737-5
DOI :
10.1109/IROS.2012.6385627