SCARA Self Posture Recognition Using a Monocular Camera
Autor(a) principal: | |
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Data de Publicação: | 2022 |
Outros Autores: | , , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10400.22/21857 |
Resumo: | Robotic manipulators rely on feedback obtained from rotary encoders for control purposes. This article introduces a vision-based feedback system that can be used in an agricultural context, where the shapes and sizes of fruits are uncertain. We aim to mimic a human, using vision and touch as manipulator control feedback. This work explores the use of a fish-eye lens camera to track a SCARA manipulator with coloured markers on its joints for the position estimation with the goal to reduce costs and increase reliability. The Kalman Filter and the Particle Filter are compared and evaluated in terms of accuracy and tracking abilities of the marker’s positions. The estimated image coordinates of the markers are converted to world coordinates using planar homography, as the SCARA manipulator has co-planar joints and the coloured markers share the same plane. Three laboratory experiments were conducted to evaluate the system’s performance in joint angle estimation of a manipulator. The obtained results are promising, for future cost effective agricultural robotic arms developments. Besides, this work presents solutions and future directions to increase the joint position estimation accuracy. |
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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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SCARA Self Posture Recognition Using a Monocular CameraVisual servoingSelf postureMonocular cameraMarker trackingSCARA manipulatorPlanar homographyRobotic manipulators rely on feedback obtained from rotary encoders for control purposes. This article introduces a vision-based feedback system that can be used in an agricultural context, where the shapes and sizes of fruits are uncertain. We aim to mimic a human, using vision and touch as manipulator control feedback. This work explores the use of a fish-eye lens camera to track a SCARA manipulator with coloured markers on its joints for the position estimation with the goal to reduce costs and increase reliability. The Kalman Filter and the Particle Filter are compared and evaluated in terms of accuracy and tracking abilities of the marker’s positions. The estimated image coordinates of the markers are converted to world coordinates using planar homography, as the SCARA manipulator has co-planar joints and the coloured markers share the same plane. Three laboratory experiments were conducted to evaluate the system’s performance in joint angle estimation of a manipulator. The obtained results are promising, for future cost effective agricultural robotic arms developments. Besides, this work presents solutions and future directions to increase the joint position estimation accuracy.IEEERepositório Científico do Instituto Politécnico do PortoTinoco, VitorSilva, Manuel F.Santos, Filipe N.Morais, RaulFilipe, Vitor2023-01-25T14:09:59Z20222022-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/21857eng10.1109/ACCESS.2022.3155199info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-03-13T13:18:11Zoai:recipp.ipp.pt:10400.22/21857Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:41:56.524136Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
SCARA Self Posture Recognition Using a Monocular Camera |
title |
SCARA Self Posture Recognition Using a Monocular Camera |
spellingShingle |
SCARA Self Posture Recognition Using a Monocular Camera Tinoco, Vitor Visual servoing Self posture Monocular camera Marker tracking SCARA manipulator Planar homography |
title_short |
SCARA Self Posture Recognition Using a Monocular Camera |
title_full |
SCARA Self Posture Recognition Using a Monocular Camera |
title_fullStr |
SCARA Self Posture Recognition Using a Monocular Camera |
title_full_unstemmed |
SCARA Self Posture Recognition Using a Monocular Camera |
title_sort |
SCARA Self Posture Recognition Using a Monocular Camera |
author |
Tinoco, Vitor |
author_facet |
Tinoco, Vitor Silva, Manuel F. Santos, Filipe N. Morais, Raul Filipe, Vitor |
author_role |
author |
author2 |
Silva, Manuel F. Santos, Filipe N. Morais, Raul Filipe, Vitor |
author2_role |
author author author author |
dc.contributor.none.fl_str_mv |
Repositório Científico do Instituto Politécnico do Porto |
dc.contributor.author.fl_str_mv |
Tinoco, Vitor Silva, Manuel F. Santos, Filipe N. Morais, Raul Filipe, Vitor |
dc.subject.por.fl_str_mv |
Visual servoing Self posture Monocular camera Marker tracking SCARA manipulator Planar homography |
topic |
Visual servoing Self posture Monocular camera Marker tracking SCARA manipulator Planar homography |
description |
Robotic manipulators rely on feedback obtained from rotary encoders for control purposes. This article introduces a vision-based feedback system that can be used in an agricultural context, where the shapes and sizes of fruits are uncertain. We aim to mimic a human, using vision and touch as manipulator control feedback. This work explores the use of a fish-eye lens camera to track a SCARA manipulator with coloured markers on its joints for the position estimation with the goal to reduce costs and increase reliability. The Kalman Filter and the Particle Filter are compared and evaluated in terms of accuracy and tracking abilities of the marker’s positions. The estimated image coordinates of the markers are converted to world coordinates using planar homography, as the SCARA manipulator has co-planar joints and the coloured markers share the same plane. Three laboratory experiments were conducted to evaluate the system’s performance in joint angle estimation of a manipulator. The obtained results are promising, for future cost effective agricultural robotic arms developments. Besides, this work presents solutions and future directions to increase the joint position estimation accuracy. |
publishDate |
2022 |
dc.date.none.fl_str_mv |
2022 2022-01-01T00:00:00Z 2023-01-25T14:09:59Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10400.22/21857 |
url |
http://hdl.handle.net/10400.22/21857 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
10.1109/ACCESS.2022.3155199 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.publisher.none.fl_str_mv |
IEEE |
publisher.none.fl_str_mv |
IEEE |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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1799131506162008064 |