info:eu-repo/semantics/conferencePaper
Visual Servoing and Robust Object Manipulation Using Symmetries and Conformal Geometric Algebra
Registro en:
Osuna-González, G.; Gonzalez-Jimenez, L.E.; Carbajal-Espinosa, O.; Loukianov, A.; Bayro-Corrochano, E. (2014). Visual Servoing and Robust Object Manipulation Using Symmetries and Conformal Geometric Algebra. 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids); Madrid, Spain, November 18-20.
9781479971756
Autor
Osuna-González, G.
González-Jiménez, Luis E.
Carbajal-Espinosa, O.
Loukianov, Alexander
Bayro-Corrochano, Eduardo
Institución
Resumen
Object tracking and manipulation is an important process for many applications in robotics and computer vision. A novel 3D pose estimation of objects using reflectionally symmetry formulated in Conformal Geometric Algebra (CGA) is proposed in this work. The synthesis of the kinematics model for robots and a sliding mode controller using the CGA approach is described. Real time implementation results are presented for the pose estimation of object using a stereo vision system. ITESO, A.C. CINVESTAV