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A real-time vision system for telerobotic manipulator with large time delay
Wu DL(吴登禄); Du YK(杜英魁); Fan BJ(范保杰); Tian JD(田建东); Tang YD(唐延东)
作者部门机器人学研究室
会议名称2012 4th International Symposium on Information Science and Engineering, ISISE 2012
会议日期December 14-16, 2012
会议地点Shanghai, China
会议录名称Proceedings of the 2012 4th International Symposium on Information Science and Engineering, ISISE 2012
出版者IEEE Computer Society
出版地Washington, DC
2012
页码460-464
收录类别EI ; CPCI(ISTP)
EI收录号20132016338000
WOS记录号WOS:000321753500102
产权排序1
ISBN号978-0-7695-4951-4
关键词Space Robotic Manipulator Stereo Vision Target Detection Cooperative Object
摘要This paper presents a real-time vision system for telerobotic manipulator with large time delay. This system consists of a number of subsystems, including image acquisition system, image transmission system, object tracking system and pose estimation system. Furthermore, a pose estimation algorithm is proposed and developed to estimate the motion for tele-robotic manipulator by the 3D reconstruction uncertainty. In order to estimate the pose of the robotic manipulator, a new cooperative target is designed for tracking the manipulator. We validate our method through the experiments and comparison with the state-of-art methods. The performance of the vision system is validated in real tele-operation with a simulated large time delay.
语种英语
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被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/13897
专题机器人学研究室
通讯作者Wu DL(吴登禄)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100039, China
3.College of Automation, Nanjing University of Posts and Telecommunications, 210003, China
推荐引用方式
GB/T 7714
Wu DL,Du YK,Fan BJ,et al. A real-time vision system for telerobotic manipulator with large time delay[C]. Washington, DC:IEEE Computer Society,2012:460-464.
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