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1996 Fiscal Year Final Research Report Summary

Study of Visual Servoing for Robot Hand Control

Research Project

Project/Area Number 07455167
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field 計測・制御工学
Research InstitutionUniversity of Tokyo

Principal Investigator

DEGUCHI Koichiro  Univ. of Tokyo, School of Eng., Assoc. Professor, 大学院・工学系研究科, 助教授 (30107544)

Co-Investigator(Kenkyū-buntansha) HONTANI Hidekata  Univ. of Tokyo, School of Eng., Research Associate, 大学院・工学系研究科, 助手 (60282688)
Project Period (FY) 1995 – 1996
KeywordsRobot Control / Computer Vision / Visual Servoing / Image Processing / Active Vision / Image Compression / Motion IMage Analysis / Behavior Control
Research Abstract

In this research, we established a methodology for robot hand control by visual servoing technique, and constructed experimetnal system to verify its performances.
As the research result, we present a general scheme to represent the relation between dynamic images and camera motion. We also propose its application to visual servoing.
For a specific objects, whole combination of image data and camera position form the product space. The camera cannot obtain any arbitrary image, so that within this space the possible combination of the camera pose and the obtained image should be constrained on a lower dimensionla hyper surface. Our basic idea is that the visual servoing is interpreted as to find a path on this surface leading to a given goal image.
Our approach is to analyze the properties of this surface, and utilize its differential or tangential property for vusual servoing. For this approach, the dimension of the image information becomes key problem. We propose to use the principal component analysis and to represent images with a composition of small number of "eigenimages" by using K-L (Karhunen-Loeve) expansion.
In the report of the research, we describe, first, that a normal vector of this surface is related to the so-called Interation Matrix, and confirm the deasibility of our basic idea visual servoing with preliminary experiments. Then, we present a dynamical estimation of the normal vectors to move robot arm mouting a camera to a goal position where a given goal image will be obtained. We also consider the construction of the eigen space (the eigenimage space) to represent images efficietly and to speed-up convergence in the control. Experimental results of visual servoing with proposed method show the feasibility and applicability of our newly proposed approach.

  • Research Products

    (20 results)

All Other

All Publications (20 results)

  • [Publications] 野口崇、出口光一郎: "固有空間法による画像特徴の対応付けを必要としない視覚サーボ法" 計測自動制御学会論文集. 32-10. 1439-1446 (1996)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 出口光一郎、野口崇: "固有空間法による視覚サーボにおける制御に適した固有部分空間の再構成" 電子情報通信学会論文誌. J80-D-II-6(掲載予定). (1997)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] K.Deguchi,et al.: "Reconstruction from Endoscope Image Sequences by The Factrization Method" IEICE Trans.on IS. E79-D-9. 1439-1446 (1996)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 古市、永松、出口: "高並列計算機の性能評価のための挙動予測モデル" 情報処理学会論文誌. 38-5(掲載予定). (1997)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] K.Deguchi: "A Direct Interpretation of Dynamic Images and Camera Motion for Visual Servoing Without Image Feature Correspondences" Journal of Robotics and Mechatronics. 19-1(to appear). (1997)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 出口光一郎: "コンピュータビジョンのための幾何学[1]〜[4]" 情報処理学会誌(連載). 37-6〜9. (1996)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] K.Deguchi(分担執筆): "Automated Deduction in Geometry" Springer-Verlag,Heidelberg, (1997)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 出口光一郎: "パターン認識" 昭晃堂, (1997)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] K.Deguchi, et al.: "3-D Shape Recongnition from Endoscope Image Sequences by The Factorization Method" Trans. of The Institute of Elect., Inform. and Comm. Eng.vol.E79-D,no.9. 1329-1336 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] K.Kinoshita, K.Deguchi: "Determination of camera parameters by Visual Servoing" Trans. of The Institute of Elec., Inform. and Comm. Eng.vol.J78-D-II,no.2. 302-310 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] K.Deguchi, T.Tatara: "A Fast Camera Calibration for Image Synthesis" Trans. Scoety of Instrumentation and Control Engineers. vol.31, no.8. 1015-1022 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] H.Okuda, K.Deguchi: "Gray level behavior for the Gaussian Blurring filters and application to edge extractions" Trans. Information Processign Ssociety of Japan. vol.36, no.10. 2244-2252 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] T.Noguchi, K.Deguchi: "Visual Servoing without Feature Correspondences Using Eigenspace Method" Trans. Society of Instrumentation and Control Engieers. vol.32.no.10. 1439-1446 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] K.Deguchi, T.Noguchi: "On The Optimal Sub-Space Construction for Visual Servoing by the Eigen Space Method" Trans. of The Institute of Elec., Inform. and Comm. Eng.vol.J80-D-II,no.6(to appear). (1997)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] K.Deguchi, T.Noguchi: "Visual Servoing Without Feature Correspindences Using Eiggenspace Method" ACCV'95 Second Asian COnference on Computer Vision, Singapore, Dec. 5-8. Vol.1. 111-115 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] K.Deguchi, T.Noguchi: "Visual Servoing Using Eigenspace Method and Dynamic Calculation of Interaction Materices" Proc. the 13th International Conference on Pattern Recognition, Vienna, August 25-30, Aug. 25-30, Vienna. vo.1. 302-306 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] K.Deguchi: "Pseudo Stereo for Remote Replay of Object Motion by Visual Servoing" Proc. International Conference on Virtual Systems and MultiMedia 96. 347-352 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] I.Shimizu, K.Deguchi: "A Method to Register Multiple Range Images form Unknown Viewing Directions" Proc. IARP Workshop on Machine Vision Applications 96, Tokyo. 406-409 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] K.Deguchi: "An Algebraic Framework for Vision System Construction Using Mechanical Theorem Proving Method" Proc. Workshop on Automated Deduction in Geometry, Toulouse. (1996)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] K.Deguchi: "A Direct Interpretation of Dynamic Images and Camera Motion for Vision Guided Robotics" Proc. International Cnnference on Multisensor Fusion and Integration for Intelligent System (MFI'96) Washington D.C.313-320 (1996)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 1999-03-09  

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