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Particle Filtering for Industrial 6DOF Visual Servoing

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Abstract

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 environments. Experiments performed in the real industrial scenario of ROBOFOOT (http://www.robofoot.eu/) project showed accurate grasping and high level of stability in the visual servoing process.

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Authors and Affiliations

  1. IK4-Tekniker, Iñaki Goenaga 5, 20600, Eibar, Gipuzkoa, Spain

    Aitor Ibarguren, José María Martínez-Otzeta & Iñaki Maurtua

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  1. Aitor Ibarguren
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  2. José María Martínez-Otzeta
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  3. Iñaki Maurtua
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Correspondence to Aitor Ibarguren.

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Ibarguren, A., Martínez-Otzeta, J.M. & Maurtua, I. Particle Filtering for Industrial 6DOF Visual Servoing. J Intell Robot Syst 74, 689–696 (2014). https://doi.org/10.1007/s10846-013-9854-2

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  • DOI: https://doi.org/10.1007/s10846-013-9854-2

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