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Authors: Aitor Ibarguren ; José María Martínez-Otzeta and Iñaki Maurtua

Affiliation: Fundación Tekniker, Spain

Keyword(s): Robotics, Visual Servoing, Particle Filter.

Related Ontology Subjects/Areas/Topics: Industrial Automation and Robotics ; Industrial Engineering ; Informatics in Control, Automation and Robotics ; Robotics and Automation ; Sensors Fusion ; Signal Processing, Sensors, Systems Modeling and Control ; Vision, Recognition and Reconstruction

Abstract: Visual servoing allows the introduction of robotic manipulation in dynamic and uncontrolled environments. This paper presents a position-based visual servoing algorithm using particle filtering. The objective is the grasping of objects using the 6 degrees of freedom of the robot manipulator (position and orientation) in non-automated industrial environments using monocular vision. A particle filter has been added to the position-based visual servoing algorithm to deal with the different noise sources of those industrial environments (metallic nature of the objects, dirt or illumination problems…). This addition allows dealing with those uncertainties and being able to recover from errors in the grasping process. Experiments performed in the real industrial scenario of ROBOFOOT project showed accurate grasping and high level of stability in the visual servoing process.

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Paper citation in several formats:
Ibarguren, A.; Martínez-Otzeta, J. and Maurtua, I. (2012). Particle Filtering for Position based 6DOF Visual Servoing in Industrial Environments. In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8565-22-8; ISSN 2184-2809, SciTePress, pages 161-166. DOI: 10.5220/0003965501610166

@conference{icinco12,
author={Aitor Ibarguren. and José María Martínez{-}Otzeta. and Iñaki Maurtua.},
title={Particle Filtering for Position based 6DOF Visual Servoing in Industrial Environments},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2012},
pages={161-166},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003965501610166},
isbn={978-989-8565-22-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Particle Filtering for Position based 6DOF Visual Servoing in Industrial Environments
SN - 978-989-8565-22-8
IS - 2184-2809
AU - Ibarguren, A.
AU - Martínez-Otzeta, J.
AU - Maurtua, I.
PY - 2012
SP - 161
EP - 166
DO - 10.5220/0003965501610166
PB - SciTePress

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