Title :
Depth-estimation for visual servoing based on fuzzy logic
Author :
Bien, Zeungnam ; Park, Jongcheol
Author_Institution :
Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
Abstract :
Depth between the robot and the target is an essential information in the robot control. However, in a case of eye-in-hand robot with one camera, it is not easy to get an accurate depth information in real-time. In this paper, the techniques of depth-from-motion and depth-from-focus are combined to accomplish the real-time requirement. Integration of the two approaches are accomplished by appropriate use of confidence factors which are evaluated by fuzzy rules. Also a fuzzy logic based calibration technique is proposed
Keywords :
calibration; distance measurement; fuzzy logic; motion estimation; real-time systems; robot vision; servomechanisms; calibration; depth-estimation; depth-from-focus; depth-from-motion; fuzzy logic; real-time systems; robot control; robot vision; visual servoing; Calibration; Cameras; Focusing; Fuzzy logic; Intelligent robots; Lenses; Motion estimation; Real time systems; Robot vision systems; Visual servoing;
Conference_Titel :
Fuzzy Systems, 1996., Proceedings of the Fifth IEEE International Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-3645-3
DOI :
10.1109/FUZZY.1996.552322
