A real-time vision system for telerobotic manipulator with large time delay
文献类型：会议论文
| 作者 | Wu DL(吴登禄) ; Du YK(杜英魁); Fan BJ(范保杰); Tian JD(田建东); Tang YD(唐延东)
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| 出版日期 | 2012 |
| 会议名称 | 2012 4th International Symposium on Information Science and Engineering, ISISE 2012 |
| 会议日期 | December 14-16, 2012 |
| 会议地点 | Shanghai, China |
| 关键词 | Space Robotic Manipulator Stereo Vision Target Detection Cooperative Object |
| 页码 | 460-464 |
| 通讯作者 | 吴登禄 |
| 中文摘要 | This paper presents a real-time vision system for telerobotic manipulator with large time delay. This system consists of a number of subsystems, including image acquisition system, image transmission system, object tracking system and pose estimation system. Furthermore, a pose estimation algorithm is proposed and developed to estimate the motion for tele-robotic manipulator by the 3D reconstruction uncertainty. In order to estimate the pose of the robotic manipulator, a new cooperative target is designed for tracking the manipulator. We validate our method through the experiments and comparison with the state-of-art methods. The performance of the vision system is validated in real tele-operation with a simulated large time delay. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 2012 4th International Symposium on Information Science and Engineering, ISISE 2012
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| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Washington, DC |
| 语种 | 英语 |
| ISBN号 | 978-0-7695-4951-4 |
| WOS记录号 | WOS:000321753500102 |
| 源URL | [http://ir.sia.cn/handle/173321/13897]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Wu DL,Du YK,Fan BJ,et al. A real-time vision system for telerobotic manipulator with large time delay[C]. 见:2012 4th International Symposium on Information Science and Engineering, ISISE 2012. Shanghai, China. December 14-16, 2012. |
入库方式： OAI收割
来源：沈阳自动化研究所
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