nahavandi-activestereo-2002.pdf (685.61 kB)
An active stereo vision-based learning approach for robotic tracking, fixating and grasping control
conference contribution
posted on 2002-01-01, 00:00 authored by N F Xiao, Saeid NahavandiIn this paper, an active stereo vision-based learning approach is proposed for a robot to track, fixate and grasp an object in unknown environments. First, the functional mapping relationships between the joint angles of the active stereo vision system and the spatial representations of the object are derived and expressed in a three-dimensional workspace frame. Next, the self-adaptive resonance theory-based neural networks and the feedforward neural networks are used to learn the mapping relationships in a self-organized way. Then, the approach is verified by simulation using the models of an active stereo vision system which is installed in the end-effector of a robot. Finally, the simulation results confirm the effectiveness of the present approach.
History
Title of proceedings
IEEE ICIT' 02 : 2002 IEEE International Conference on Industrial Technology : productivity reincarnation through robotics & automation : 11-14 December 2002, Shangri-La Hotel, Bangkok, ThailandEvent
IEEE International Conference on Industrial Technology (2002 : Bangkok, Thailand)Pagination
584 - 587Publisher
IEEE XploreLocation
Bangkok, ThailandPlace of publication
Piscataway, N.J.Start date
2002-12-11End date
2002-12-14ISBN-13
9780780376571ISBN-10
0780376579Language
engNotes
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.Publication classification
E1 Full written paper - refereedCopyright notice
2002, IEEEEditor/Contributor(s)
M ParnichkunUsage metrics
Categories
No categories selectedKeywords
Licence
Exports
RefWorks
BibTeX
Ref. manager
Endnote
DataCite
NLM
DC