Image-Based Visual Servoing System for Components Alignment Using Point and Line Features

doi:10.1109/TIM.2022.3165794

CORC > 自动化研究所 > 中国科学院自动化研究所 > 精密感知与控制研究中心 > 精密感知与控制

	Image-Based Visual Servoing System for Components Alignment Using Point and Line Features
	Yan, Shaohua 1,2; Tao, Xian 1,2; Xu, De 1,2
刊名	IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
	2022
卷号	71 页码:11
关键词	Deep neural network feature extraction image-based visual servoing interaction matrix pose error estimation robotic assembly system
ISSN号	0018-9456
DOI	10.1109/TIM.2022.3165794
通讯作者	Xu, De(de.xu@ia.ac.cn)
英文摘要	The design of visual servoing system for robotic high-precision assembly is of great challenge. For the difficulty of insufficient accuracy of target object feature extraction, a deep neural network combined with feature pyramid network (FPN) structure is proposed. This lightweight network requires only a small amount of labeled data to achieve significant segmentation results. The control laws of translation and orientation for component alignment are separately designed. The translation is controlled based on the interaction matrix of point features. The orientation is controlled based on the interaction matrix of line features. The relations between the cameras' motion and the end-effector of the manipulator are calibrated via the manipulator's active movements, which are 3 x 3 transformation matrices. The depth information of feature points is integrated into the transformation matrix. The alignment pose error estimation is realized with the interaction matrices, transformation matrices, and point and line features. A robotic assembly system is developed to assemble two aviation circular connectors with six degree-of-freedoms (DOFs) in high precision in 3-D space. The experimental results verify the effectiveness of the proposed method.
资助项目	National Key Research and Development Program of China[2018AAA0103004] ; National Natural Science Foundation of China[61873266] ; Beijing Municipal Natural Science Foundation[4212044]
WOS研究方向	Engineering ; Instruments & Instrumentation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000785793200003
资助机构	National Key Research and Development Program of China ; National Natural Science Foundation of China ; Beijing Municipal Natural Science Foundation
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/48374]
专题	精密感知与控制研究中心_精密感知与控制
通讯作者	Xu, De
作者单位	1.Chinese Acad Sci, Res Ctr Precis Sensing & Control, Inst Automat, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Yan, Shaohua,Tao, Xian,Xu, De. Image-Based Visual Servoing System for Components Alignment Using Point and Line Features[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2022,71:11.
APA	Yan, Shaohua,Tao, Xian,&Xu, De.(2022).Image-Based Visual Servoing System for Components Alignment Using Point and Line Features.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,71,11.
MLA	Yan, Shaohua,et al."Image-Based Visual Servoing System for Components Alignment Using Point and Line Features".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 71(2022):11.