The Improved SVM Multi Objects's Identification for the Uncalibrated Visual Servoing
For the assembly of multi micro objects in micromanipulation, the first task is to identify multi micro parts. We present an improved support vector machine algorithm, which employs invariant moments based edge extraction to obtain feature attribute and then presents a heuristic attribute reduction...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2009-03-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/6768 |
| _version_ | 1819051900503326720 |
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| author | Xiangjin Zeng Xinhan Huang Min Wang |
| author_facet | Xiangjin Zeng Xinhan Huang Min Wang |
| author_sort | Xiangjin Zeng |
| collection | DOAJ |
| description | For the assembly of multi micro objects in micromanipulation, the first task is to identify multi micro parts. We present an improved support vector machine algorithm, which employs invariant moments based edge extraction to obtain feature attribute and then presents a heuristic attribute reduction algorithm based on rough set's discernibility matrix to obtain attribute reduction, with using support vector machine to identify and classify the targets. The visual servoing is the second task. For avoiding the complicated calibration of intrinsic parameter of camera, We apply an improved broyden's method to estimate the image jacobian matrix online, which employs chebyshev polynomial to construct a cost function to approximate the optimization value, obtaining a fast convergence for online estimation. Last, a two DOF visual controller based fuzzy adaptive PD control law for micro-manipulation is presented. The experiments of micro-assembly of micro parts in microscopes confirm that the proposed methods are effective and feasible. |
| first_indexed | 2024-12-21T12:11:17Z |
| format | Article |
| id | doaj.art-a7f0ec25cbba4d0b9f07baac596495cf |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-21T12:11:17Z |
| publishDate | 2009-03-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-a7f0ec25cbba4d0b9f07baac596495cf2022-12-21T19:04:34ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142009-03-01610.5772/676810.5772_6768The Improved SVM Multi Objects's Identification for the Uncalibrated Visual ServoingXiangjin ZengXinhan HuangMin WangFor the assembly of multi micro objects in micromanipulation, the first task is to identify multi micro parts. We present an improved support vector machine algorithm, which employs invariant moments based edge extraction to obtain feature attribute and then presents a heuristic attribute reduction algorithm based on rough set's discernibility matrix to obtain attribute reduction, with using support vector machine to identify and classify the targets. The visual servoing is the second task. For avoiding the complicated calibration of intrinsic parameter of camera, We apply an improved broyden's method to estimate the image jacobian matrix online, which employs chebyshev polynomial to construct a cost function to approximate the optimization value, obtaining a fast convergence for online estimation. Last, a two DOF visual controller based fuzzy adaptive PD control law for micro-manipulation is presented. The experiments of micro-assembly of micro parts in microscopes confirm that the proposed methods are effective and feasible.https://doi.org/10.5772/6768 |
| spellingShingle | Xiangjin Zeng Xinhan Huang Min Wang The Improved SVM Multi Objects's Identification for the Uncalibrated Visual Servoing International Journal of Advanced Robotic Systems |
| title | The Improved SVM Multi Objects's Identification for the Uncalibrated Visual Servoing |
| title_full | The Improved SVM Multi Objects's Identification for the Uncalibrated Visual Servoing |
| title_fullStr | The Improved SVM Multi Objects's Identification for the Uncalibrated Visual Servoing |
| title_full_unstemmed | The Improved SVM Multi Objects's Identification for the Uncalibrated Visual Servoing |
| title_short | The Improved SVM Multi Objects's Identification for the Uncalibrated Visual Servoing |
| title_sort | improved svm multi objects s identification for the uncalibrated visual servoing |
| url | https://doi.org/10.5772/6768 |
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