Feature design for optimum directional motion resolvability
Azad Shademan, Farrokh Janabi‐Sharifi · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2005
Design of objects that are used in vision-guided robotic systems crucially affects the overall system performance. In this paper, we target the problem of optimal feature point design for a given camera motion profile in robotic eye-in-hand systems. Having the intrinsic camera calibration parameters, the motion profile, and the image Jacobian matrix, a new directional relative motion resolvability measure is introduced. For each known point on the camera trajectory with known camera-to-object relative pose, the proposed measure is evaluated as a separate objective, resulting in a multi-objective problem. A bounded multi-objective optimization approach is successfully utilized to solve the underconstrained feature design problem. Simulation results show that the motion of the camera is better resolved for the optimally designed object.