Particle Filtering for Industrial 6DOF Visual Servoing

@article{Ibarguren2014ParticleFF,
  title={Particle Filtering for Industrial 6DOF Visual Servoing},
  author={Aitor Ibarguren and Jos{\'e} Mar{\'i}a Mart{\'i}nez-Otzeta and I{\~n}aki Maurtua},
  journal={Journal of Intelligent & Robotic Systems},
  year={2014},
  volume={74},
  pages={689-696}
}
Visual servoing allows the introduction of robotic manipulation in dynamic and uncontrolled environments. This paper presents a position-based visual servoing algorithm using particle filtering. The objective is the grasping of objects using the 6 degrees of freedom of the robot manipulator in non-automated industrial environments using monocular vision. A particle filter has been added to the position-based visual servoing algorithm to deal with the different noise sources of those industrial… CONTINUE READING

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