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Proceedings Paper

Feature design for optimum directional motion resolvability
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Paper Abstract

Design of objects that are used in vision-guided robotic systems crucially affects the overall system performance. In this paper, we target the problem of optimal feature point design for a given camera motion profile in robotic eye-in-hand systems. Having the intrinsic camera calibration parameters, the motion profile, and the image Jacobian matrix, a new directional relative motion resolvability measure is introduced. For each known point on the camera trajectory with known camera-to-object relative pose, the proposed measure is evaluated as a separate objective, resulting in a multi-objective problem. A bounded multi-objective optimization approach is successfully utilized to solve the underconstrained feature design problem. Simulation results show that the motion of the camera is better resolved for the optimally designed object.

Paper Details

Date Published: 6 December 2005
PDF: 11 pages
Proc. SPIE 6052, Optomechatronic Systems Control, 605207 (6 December 2005); doi: 10.1117/12.649087
Show Author Affiliations
Azad Shademan, Ryerson Univ. (Canada)
Farrokh Janabi-Sharifi, Ryerson Univ. (Canada)

Published in SPIE Proceedings Vol. 6052:
Optomechatronic Systems Control
Farrokh Janabi-Sharifi, Editor(s)

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