A robot visual/inertial servoing to an object with inertial sensors

  • Authors:

  • Ho Quoc Phuong Nguyen;Hee-Jun Kang;Young-Soo Suh;Young-Shick Ro

  • Affiliations:

  • Graduate School of Electrical Engineering, University of Ulsan, Ulsan, South Korea;School of Electrical Engineering, University of Ulsan, Ulsan, South Korea;School of Electrical Engineering, University of Ulsan, Ulsan, South Korea;School of Electrical Engineering, University of Ulsan, Ulsan, South Korea

  • Venue:
  • ICIC'09 Proceedings of the 5th international conference on Emerging intelligent computing technology and applications
  • Year:
  • 2009

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Abstract

The paper introduces a robot visual/inertial servoing algorithm when the robot needs to track an object with inertial sensors inside. In this situation, first, inertial Jacobian is newly defined to show the relationship between an angle set velocity vector and angular velocity vector of the robot tip. That is combined with the conventional image Jacobian for the proposed robot servoing algorithm. While four landmarks have been used in the conventional visual servoing algorithm, the proposed algorithm requires only two landmarks with help of the IMU to track a moving object. Simulation and Implementation have been done to verify the feasibility of the proposed methodology.