On-line Stable Evolutionary Recognition Based on Unit Quaternion Representation by Motion-Feedforward Compensation
Wei Song, Mamoru Minami, Seiji Aoyagi · International Journal of Intelligent Computing in Medical Sciences & Image Processing · 2008
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.