Feature design for optimum directional motion resolvability

Azad Shademan; Farrokh Janabi-Sharifi

doi:10.1117/12.649087

6 December 2005 Feature design for optimum directional motion resolvability

Azad Shademan, Farrokh Janabi-Sharifi

Author Affiliations +

Proceedings Volume 6052, Optomechatronic Systems Control; 605207 (2005) https://doi.org/10.1117/12.649087
Event: Optomechatronic Technologies 2005, 2005, Sapporo, Japan

Abstract

Design of objects that are used in vision-guided robotic systems crucially affects the overall system performance. In this paper, we target the problem of optimal feature point design for a given camera motion profile in robotic eye-in-hand systems. Having the intrinsic camera calibration parameters, the motion profile, and the image Jacobian matrix, a new directional relative motion resolvability measure is introduced. For each known point on the camera trajectory with known camera-to-object relative pose, the proposed measure is evaluated as a separate objective, resulting in a multi-objective problem. A bounded multi-objective optimization approach is successfully utilized to solve the underconstrained feature design problem. Simulation results show that the motion of the camera is better resolved for the optimally designed object.

Citation Download Citation

Azad Shademan and Farrokh Janabi-Sharifi "Feature design for optimum directional motion resolvability", Proc. SPIE 6052, Optomechatronic Systems Control, 605207 (6 December 2005); https://doi.org/10.1117/12.649087

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