OPTIMAL FEATURE DESIGN FOR VISION-GUIDED MANIPULATION

Optimal Feature Design for Vision-Guided Manipulation Azad Shademan, Master of Applied Science in Electrical and Computer Engineering Department, Ryerson U niversity, 2005 Numerous industrial applications use vision-guided manip ulation, where cameras are used to generate the feedback control signal. Current vision algor ithms select a set of image features to estimate pose in real-time. Object design has received litt le a ention in this context; more importantly, improper designs could lead to task failure. The foc us of this thesis is on optimal industrial design of features. The goal is to construct the theory of opt imal design for vision-guided manipulation. The problem is posed as a multi-objective optimizat ion problem within an axiomatic-design theoretic framework. The visual and directional motion res olvability objectives are specified for a given 6-dimensional camera trajectory. Simulation result s verify that the redesigned object satisfies the objectives. The practical implementation is attempted by camera calibration, pose estimation, and experiments on a real industrial object under a known cam er trajectory.

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