On-line Stable Evolutionary Recognition Based on Unit Quaternion Representation by Motion-Feedforward Compensation

Abstract

Abstract This paper presents a pose measurement method of a 3D object. The proposed method utilizes an evolutionary search technique of the genetic algorithm (GA) and a fitness evaluation based on a stereo model matching whose pose is expressed by unit quaternion. To improve the dynamics of recognition, a motion-feedforward compensation method is proposed for the hand-eye system. The effectiveness of the proposed method is confirmed by the simulation experiments. Keywords: 3D measurementgenetic algorithm (GA)unit quaternionmotion-feedforward compensation