Visual servoing to catch fish using global/local GA search |
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Authors: | H. Suzuki M. Minami |
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Affiliation: | Fukui Nat. Coll. of Technol., Japan; |
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Abstract: | This paper presents a vision-related technique for a real-time visual servoing. The method utilizes the global search feature of a genetic algorithm (GA) and a local search technique of the GA. In the GA process, the computation of the fitness function is based on the configuration of an object model designated as the surface-strips model. To evaluate the effectiveness of the proposed recognition method, experiments to track a fish by a hand-eye camera and catch the fish with a net attached to the hand of the manipulator have been performed. |
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