Optimizing image and camera trajectories in robot vision control using on-line boosting

Abstract

In this paper, we present a novel boosted robot vision control algorithm. The method utilizes on-line boosting to produce a strong vision-based robot control starting from two weak algorithms. The notion of weak and strong algorithms has been presented in the context of robot vision control, in presence of uncertainty in the measurement process. Appropriate probabilistic error functions are defined for the weak algorithm to evaluate their suitability in the task. An on-line boosting algorithm is employed to derive a final strong algorithm starting from two weak algorithms. This strong one has superior performance both in image and Cartesian spaces. Experiments justify this claim.