VLC-SE:连续体机器人纵向视觉构形自估计器

Hao Cheng, Bin Lan, Houde Liu, Xueqian Wang, Bin Liang
{"title":"VLC-SE:连续体机器人纵向视觉构形自估计器","authors":"Hao Cheng, Bin Lan, Houde Liu, Xueqian Wang, Bin Liang","doi":"10.1109/CASE49439.2021.9551551","DOIUrl":null,"url":null,"abstract":"A novel concept for visual-lengthwise configuration self-estimator (VLC-SE) of continuum robots is presented, using multiple monocular cameras mounted to each end of segments and lengths encoder as input sensors. The proposed approach grounds the improved lengths based kinematic model with Piecewise Polynomial Curvature (PPC) hypothesis, which ensures accurate modelling and avoids the flaws - as discontinuities and singularities. Meanwhile, we discussed the observability of the improved model. We propose to enhance perception by the vision of each segment end, which comes to the concept of Flexible Multi-Camera Bundle Adjustment (FMC-BA). We validate the performance of our approach on the data collected on a snake-like continuum robot. We also share the first continuum robot datasets: CoRo, including vision and arc lengths data, to promote further research. (https://cutt.ly/CoRo_dataset).","PeriodicalId":232083,"journal":{"name":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","volume":"16 5-6","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"VLC-SE: Visual-Lengthwise Configuration Self-Estimator of Continuum Robots\",\"authors\":\"Hao Cheng, Bin Lan, Houde Liu, Xueqian Wang, Bin Liang\",\"doi\":\"10.1109/CASE49439.2021.9551551\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A novel concept for visual-lengthwise configuration self-estimator (VLC-SE) of continuum robots is presented, using multiple monocular cameras mounted to each end of segments and lengths encoder as input sensors. The proposed approach grounds the improved lengths based kinematic model with Piecewise Polynomial Curvature (PPC) hypothesis, which ensures accurate modelling and avoids the flaws - as discontinuities and singularities. Meanwhile, we discussed the observability of the improved model. We propose to enhance perception by the vision of each segment end, which comes to the concept of Flexible Multi-Camera Bundle Adjustment (FMC-BA). We validate the performance of our approach on the data collected on a snake-like continuum robot. We also share the first continuum robot datasets: CoRo, including vision and arc lengths data, to promote further research. (https://cutt.ly/CoRo_dataset).\",\"PeriodicalId\":232083,\"journal\":{\"name\":\"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)\",\"volume\":\"16 5-6\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-08-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CASE49439.2021.9551551\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CASE49439.2021.9551551","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1

摘要

提出了一种连续体机器人视觉纵向构型自估计器(VLC-SE)的新概念,该方法使用安装在机器人节段两端的多个单目摄像机和长度编码器作为输入传感器。该方法基于改进的基于长度的运动学模型,采用分段多项式曲率(PPC)假设,既保证了建模的准确性,又避免了不连续和奇异性等缺陷。同时,讨论了改进模型的可观测性。我们提出通过每个片段末端的视觉来增强感知,这就是柔性多摄像机束调整(FMC-BA)的概念。我们在蛇形连续体机器人上收集的数据上验证了我们的方法的性能。我们还分享了第一个连续机器人数据集:CoRo,包括视觉和弧长数据,以促进进一步的研究。(https://cutt.ly/CoRo_dataset)。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
VLC-SE: Visual-Lengthwise Configuration Self-Estimator of Continuum Robots
A novel concept for visual-lengthwise configuration self-estimator (VLC-SE) of continuum robots is presented, using multiple monocular cameras mounted to each end of segments and lengths encoder as input sensors. The proposed approach grounds the improved lengths based kinematic model with Piecewise Polynomial Curvature (PPC) hypothesis, which ensures accurate modelling and avoids the flaws - as discontinuities and singularities. Meanwhile, we discussed the observability of the improved model. We propose to enhance perception by the vision of each segment end, which comes to the concept of Flexible Multi-Camera Bundle Adjustment (FMC-BA). We validate the performance of our approach on the data collected on a snake-like continuum robot. We also share the first continuum robot datasets: CoRo, including vision and arc lengths data, to promote further research. (https://cutt.ly/CoRo_dataset).
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信