On-line Stable Evolutionary Recognition Based on Unit Quaternion Representation by Motion-Feedforward Compensation
On-line Stable Evolutionary Recognition Based on Unit Quaternion Representation by Motion-Feedforward Compensation
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DOI：
10.1080/1931308x.2008.10644160
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
Wei Song;M. Minami;S. Aoyagi
中科院分区：
文献类型：
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作者：
Wei Song;M. Minami;S. Aoyagi
摘要 本文提出了一种3D物体的位姿测量方法。该方法利用遗传算法（GA）的进化搜索技术和基于立体模型匹配的适应度评估，其位姿由单位四元数表示。为了提高识别的动态性，提出了一种针对手眼系统的运动前馈补偿方法。仿真实验验证了该方法的有效性。
Abstract This paper presents a pose measurement method of a 3D object. The proposed method utilizes an evolutionary search technique of the genetic algorithm (GA) and a fitness evaluation based on a stereo model matching whose pose is expressed by unit quaternion. To improve the dynamics of recognition, a motion-feedforward compensation method is proposed for the hand-eye system. The effectiveness of the proposed method is confirmed by the simulation experiments.