원문정보
초록
영어
In this paper, a master manipulator control system in a master-slave robot which uses trinocular stereo vision is presented. The system utilizes three real-time cameras to identify and track the movements of the master handle, while also measuring the master handle position. The system follows a basic four step process. First, the master handle in the image is identified using the contrast between the handle and the background. Second, the speed and direction of the next position for the master handle is predicted in real-time by using the Kalman filter. Third, the position of the master handle is measured in real-time using stereo matching, which utilizes the method of combining feature matching and region gray matching to consistently identify the markers on the master handle and eliminate error matching. The experimental results in this study conclude that the master-handle manipulator control system is fast and exact.
목차
1. Introduction
2. The Structure of the Master-Slave Robot System
3. The Design of the Master Handle Subsystem
3.1. The Workspace of the Master Handle
4. Recognition and Tracking Algorithm of the Master Handle
4.1. Motion Tracking Based on Kalman Filter
5. Gesture Measurement Algorithm
5.1. Recognition and Location of Markers
5.2. The Matching of the Markers
5.3. The Gesture Calculation of the Operating Handle
6. Experimental Analysis
6.1. The Camera Calibration of the Binocular Vision System
6.2. Recognition and Tracking of the Handle
6.3. Gesture Measurement of the Handle
6.4. Error Analysis
7. Conclusions
Acknowledgments
References