|
Accession number;02A0585375
|
| Title;Fish Picking by Robot Using Gazing GA Visual Servoing. |
| Author;
MINAMI MAMORU
(Fukui Univ.)
SUZUKI HIDEKAZU
(Fukui Univ.)
ASAKURA TOSHIYUKI
(Fukui Univ.)
AGBANHAN J
(Ccs)
|
Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu
|
Journal Code:L0318A
|
ISSN:
|
|
VOL.2001;NO.Pt.3;PAGE.2A1.C2(1)-2A1.C2(2)(2001)
|
| Figure&Table&Reference;FIG.7, REF.5 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;This paper presents a new method of scene recognition for manipulator real-time visual servoing, which utilizes a hybrid genetic algorithm(GA) in combination with a model shaping a target of known shape, and the unprocessed gray-scale image of a scene. The scene recognition method presented here is concerned with the simultaneous recognition of the shape and detection of the position and orientation in the two-dimensional raw-image, of a three-dimensional target being imaged. The proposed hybrid GA employs the "global" search feature of a two-point crossover of a GA, to search a target, together with a GA-based "local" search that focuses on the target of interest found so far, in order to detect accurate target's position in a short time by intensive searching. In order to appraise the proposed hybrid GA recognition method, experiments to pick up a natural fish swimming in a pool by hand net of a robot manipulator by using the visual servoing, have been conducted to show the performances with respect to recognition accuracy in time response and the real-time feature. (author abst.) |
|
|
|
Related Articles;
|
