Color-Based Visual Servoing of a Mobile Manipulator with Stereo Vision

Abstract

In this study, stereo vision system is applied to visual servoing of a mobile manipulator. The robot can recognize a target and compute the 3D position of the target by using a stereo vision system. A stereo vision system enables the robot to find the position of a target without additional information while a monocular vision system needs properties such as geometric shape of a target. Many algorithms have been studied and developed for object recognition. However, most of these approaches have a disadvantage of the complexity of computations and they are inadequate for real-time visual servoing. The other hand color information is useful for simple recognition in real-time visual servoing. In this paper, we refer to object recognition using colors, stereo matching method, recovery of 3D space, and the visual servoing.