We propose a fully automatic solution for high-performance robotic tracking of uncertain contour patterns without any teaching. It is implemented by a coarse-to-fine strategy with better performance comparing with our previous semi-automatic approach ( • Dynamic Compensation - Toward the Nex... ). First, several key points are automatically extracted from the unknown contour pattern using one image captured with a roughly calibrated low-cost camera. With these key points, a smooth path for coarse tracking is generated by utilizing the main robot's controller. Then, during the execution of the main robot's coarse motion, the add-on module conducts fine compensation under 1,000 Hz visual feedback. With this approach, high-performance, fully automatic robotic tracking of unknown contour patterns can be realized, even under systematic uncertainties such as backlash of the main robot, or external disturbances of the workpiece.
http://ishikawa-vision.org/fusion/dct...
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