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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)
Department机器人学研究室
Conference Name2012 4th International Symposium on Information Science and Engineering, ISISE 2012
Conference DateDecember 14-16, 2012
Conference PlaceShanghai, China
Source PublicationProceedings of the 2012 4th International Symposium on Information Science and Engineering, ISISE 2012
PublisherIEEE Computer Society
Publication PlaceWashington, DC
2012
Pages460-464
Indexed ByEI ; CPCI(ISTP)
EI Accession number20132016338000
WOS IDWOS:000321753500102
Contribution Rank1
ISBN978-0-7695-4951-4
KeywordSpace Robotic Manipulator Stereo Vision Target Detection Cooperative Object
AbstractThis 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.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/13897
Collection机器人学研究室
Corresponding AuthorWu DL(吴登禄)
Affiliation1.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
Recommended Citation
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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