Fusion of vision and inertial sensors for position-based visual servoing of a robot manipulator

Authors:
Tran Minh Duc;Hee-Jun Kang
Affiliations:
Graduate School of Electrical Engineering, University of Ulsan, Ulsan, South Korea;School of Electrical Engineering, University of Ulsan, Ulsan, South Korea
Venue:
ICIC'13 Proceedings of the 9th international conference on Intelligent Computing Theories
Year:
2013

Citing 2
Cited 0

An Introduction to Inertial and Visual Sensing

International Journal of Robotics Research
A kalman-filter-based method for pose estimation in visual servoing

IEEE Transactions on Robotics

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Abstract

This paper presents a new technique to combine measurements from both a vision system and an inertial sensor mounted on a robot tip when the robot moves towards an object. The proposed scheme is designed based on a combination of the relative pose (position and orientation) of vision system with information of the inertial sensor (acceleration and angular velocity) to get final relative pose. In addition, a Kalman filter is used to handle asynchronous information from those sensors. The proposed scheme not only can increase the robustness of the pose estimation but also can smooth the velocity control of robot. A computer simulation results are shown to verify the effectiveness of the proposed algorithm.