ON THE USE OF THE SIFT TRANSFORM TO SELF-LOCATE AND POSITION EYE-IN-HAND MANIPULATORS USING VISUAL CONTROL
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1 XVIII Congresso Braslero de Automáta / a 6-setembro-00, Bonto-MS ON THE USE OF THE SIFT TRANSFORM TO SELF-LOCATE AND POSITION EYE-IN-HAND MANIPULATORS USING VISUAL CONTROL ILANA NIGRI, RAUL Q. FEITOSA Department of Eletral Engneerng, Pontfal Cathol Unversty of Ro de Janero Rua Marquês de São Vente 55 Gávea, Ro de Janero, RJ, BRAZIL E-mals: langr@gmal.om, raul@ele.pu-ro.br MARCO A. MEGGIOLARO Department of Mehanal Engneerng, Pontfal Cathol Unversty of Ro de Janero Rua Marquês de São Vente 55 Gávea, Ro de Janero, RJ, BRAZIL E-mal: megg@pu-ro.br Abstrat The present work has the objetve to develop and mplement vsual ontrol tehnques to self-loalze and poston robot manpulators. It s assumed that a monoular amera s attahed to the robot end-effetor (eye-n-hand onfguraton). Two lassal vsual ontrol tehnques are studed: look-and-move and vsual servo ontrol. The man ontrbuton of ths work s the use of the Sale Invarant Feature Transform (SIFT) n these ontrol tehnques to obtan and orrelate key-ponts between referene mages and mages aptured n real tme by the robot amera. The proposed methodology s expermentally valdated usng a three degree-of-freedom automated oordnate table espeally desgned and bult for ths work. Keywords robot manpulator, eye-n-hand, look-and-move ontrol, vsual servo ontrol, SIFT transform Resumo O presente trabalho tem por objetvo desenvolver e mplementar ténas de ontrole vsual para auto-loalzar e posonar manpuladores robótos. Assume-se que uma âmera monoular é fxada na extremdade do manpulador. Duas ténas lássas de ontrole vsual são estudadas: look-and-move e ontrole servo-vsual. A prnpal ontrbução deste trabalho é no uso da transformada SIFT (Sale Invarant Feature Transform) nestas ténas de ontrole para obter e orrelaonar pontoshave entre magens de referêna e magens obtdas em tempo real pela âmera do robô. A metodologa proposta é valdada expermentalmente usando uma mesa oordenada de 3 graus de lberdade espealmente projetado e onstruído para este trabalho. Palavras-have manpulador robóto, âmera monoular, ontrole look-and-move, ontrole servo-vsual, transformada SIFT Introduton One robot applaton of great nterest s to use omputer vson to albrate and self-loalze a robot. Ths applaton an be useful e.g. n submarne nterventons, where a robot manpulator s mounted on a Remote Operated Vehle (ROV) to exeute tasks at hgh depths, suh as handlng manfold valves. Suh task s urrently performed by teleoperators. To partally automate ths task, the robot must be able to measure n real tme ts pose wth respet to the served equpment (Augustson, 007). Several works were presented n the lterature, ombnng robots wth omputer vson (Hartley & Zsserman, 000; Huthnson et al., 996). The most ommon applaton onssts on a robot exeutng a task ommanded by vsual nformaton (Smth & Papankolopoulos, 996). Inoue & Shra (97) bult a robot manpulator wth 7 degrees of freedom, wth an eye-n-hand system. The objetve was to ft an objet n a hole of the same format. By software, the robot suessfully estmated ts dstane from the objet only usng mage nformaton. Houshang (990) desgned a system wth a fxed amera, whh aptures movng objets. Allota & Colombo (999) desgned a robot eye-n-hand system. Vsual features were obtaned through edgefndng. Usng a D/3D ontrol, the system was able to perform postonng tasks. The present work has the objetve to develop and mplement vsual ontrol tehnques to selfloalze and poston robot manpulators. It s assumed that a monoular amera s attahed to the robot end-effetor (eye-n-hand onfguraton). Two lassal vsual ontrol tehnques are studed: lookand-move and vsual servo ontrol. Ther man dfferene s related to the adopted feedbak sensors. The frst tehnque uses poston sensors wth the ad of a sngle mage aptured at the begnnng of the robot movement. The seond tehnque does not make use of poston sensors, t only reles on several mages aptured n real tme durng the robot movement. Eah of these tehnques an be mplemented aordng to two dfferent hoes for state varables: varables pose (postons and orentatons), or varables mage features. When dealng wth pose varables, a desred relatve pose between the amera and an objet s hosen; the robot s then ontrolled untl suh poston and orentaton s aheved. When dealng wth mage features, the robot only reeves an mage assoated wth the desred poston, whle the ontrol moves the robot 35
2 XVIII Congresso Braslero de Automáta / a 6-setembro-00, Bonto-MS untl ts end-effetor amera aptures an mage as smlar as possble to the provded one. In ths work, the SIFT (Sale Invarant Feature Transform) s used to obtan and orrelate key-ponts between referene mages and mages aptured n real tme by the robot amera (Lowe, 004). SIFT s robust to rotatons, translatons, sale and lghtng hanges, mprovng the ontrol system robustness. Analytal Bakground. SIFT (Sale Invarant Features Transform) The man objetve of the SIFT algorthm (Lowe, 004) s the nvarant feature extraton from mages, n order to fnd mathng ponts between two mages. The features are nvarant to mage sale and rotaton, provdng robust mathng aganst affne dstorton, hange n 3D vewpont, addton of nose, and hange n llumnaton. After fndng the keyponts of the mage par, the mathng proess starts. The orrelaton between the mages s then found. The man objetve s to fnd the same pont n the dfferent vews of the objet. (Fgs. -3): look-and-move pose, look-andmove mage, vsual-servo pose, and vsual-servo mage. In the look-and-move ontrol, the system feedbak s realzed n the jonts, usng poston sensors n the system feedbak. Vsual-servo ontrol may use the poston sensor nformaton from the jonts, but feedbak s realzed through mages aptured n real tme. At eah ontrol loop, a new mage frame s aptured and a new dfferene between the real and desred poston s obtaned. Fgure. Move ontrol pose. Vsual Arhteture The two ontrol tehnques mages studed n ths work dffer eah other wth respet to the system feedbak. Sanderson and Wess (980) ntrodued two onepts to lassfy vsual-servo systems. The look-and-move system uses vsual omputaton to generate the set-ponts to the jonts from a sngle mage, wthout vsual feedbak. On the other hand, vsual-servo systems use several mages taken n real tme to orret for the jonts errors. Eah of these tehnques an be mplemented aordng to two dfferent hoes for state varables: varables pose (postons and orentatons), or varables mage features. When dealng wth pose varables, a desred relatve pose between the amera and an objet s hosen; the robot s then ontrolled untl suh poston and orentaton s aheved. When dealng wth mage features, the robot only reeves an mage assoated wth the desred poston, whle the ontrol moves the robot untl ts end-effetor amera aptures an mage as smlar as possble to the provded one. Vsual-servo systems mage requre the use of an Image Jaoban matrx, whh s responsble for onvertng the errors between the desred and atual features nto nputs to the ontroller. For ontrols pose, feature extraton must also be performed, however there s no need to use an Image Jaoban sne the knemat equatons an alulate the system errors from the extrated pose. Knowng that vsual ontrol an be lassfed from the presene or absene of a onventonal poston ontroller, and by the desred varable (pose or mage), four dfferent ontrollers an be defned Fgure. Vsual Servo ontrol pose Fgure 3. Vsual Servo ontrol mage.3 Poston Arhteture One the desred poston s determned, a poston ontrol s neessary to transform the desred poston nto nformaton to the motors. Many tehnques an be found n the lterature, but for ths work PID ontrol was hosen, one of the most ommon ontrol tehnques. The PID ontrol an be understood as a ombnaton of three dfferent tehnques: Proportonal, Integral and Dervatve, followng the equaton u = K P e + K I e dt + K t 0 D e () where represents the lnk number, u s the resultng fore or torque to be appled by eah atuator, e s the error between the real and desred poston, K P s the proportonal gan, K I s the ntegral gan and K D s the dervatve gan. The gans are albrated from expermental proedures. 36
3 XVIII Congresso Braslero de Automáta / a 6-setembro-00, Bonto-MS 3 Expermental System The projet sheme and man steps are presented n Fg. 4. Fgure 4. Sheme of the expermental system The proposed methodology s expermentally valdated usng a three degree-of-freedom robot, mplemented from the automaton of an x-y-θ oordnate table. A amera s fxed at the end-effetor of the table, extratng an mage from the target. Vson software omputes the desred oordnates from the target and sends them to an eletron system. A mroontroller nsde the eletron system estmates the neessary torques to reah the desred poston, and sends t to the oordnate table motors. 3. Mehanal System The automated oordnate table used n ths work has prsmat jonts and rotatonal jont, powered by DC gearmotors wth enoders. A monoular amera fxed to the robot end-effetor s able to apture mages from the envronment, used to ontrol the relatve poston between the robot end-effetor and a gener objet. A photo of the oordnate table s shown n Fg. 5. The system knemat and dynam models are presented n (Ngr, 009). motors. The output sgnals are of the PPM type (Pulse Poston Modulaton). To atvate the motors, Banebots TM speed ontrollers are used, whh an provde A ontnuous urrents wth 45A peaks. For the ontrols pose, ths eletron system reeves the nformaton about a desred poston from a omputer, ompares t to the measured postons from the motor enoders, and then alulates and sends sgnals to the motors aordng to a PID ontrol law. For the mage-based ontrols, the omputer s responsble for alulatng the errors between the desred mage and the aptured one, dretly sendng the ontrol sgnals to the eletron system, whh then ats only onvertng them to the PPM format. 3.3 Software The Matlab TM software envronment s hosen to mplement the ontrols, beause of ts omprehensve lbrary on mage proessng, n addton to ts smple-to-use ommunaton wth a seral port. The man sreen from the developed ontroller nterfae presents a few buttons that allow the user to hoose the desred varable to be ontrolled, between pose or mage, and among the four ontrol ombnatons: Move or Vsual-Servo, pose or on mage. Two types of targets are used n the experments: one a smple rular objet, easly dentfable by the mage proessng software; and another a gener D mage, whh requres the use of the SIFT transform. Both types are desrbed next. 4 Target-Dependent Formulaton 4. Crular Target To determne the relatve dstane between a rular-shaped objet and the amera, a few equatons are developed geometr prnples. Fgure 6 shows a sheme of the experment usng a (red) ds as a target. Fgure 5. The automated x-y-θ oordnate table 3. Eletron System An eletron system nterfae has been developed to ontrol the movement of the oordnate table motors usng a omputer. The system ommunates wth the omputer through a seral port. It ontans a mroontroller responsble to exeute a PID algorthm and determne the urrents to be appled to the Fgure 6. Experment sheme usng a ds as target The shemat presented n Fg. 6 assumes that the ds axs of symmetry s algned wth the y dreton, whle x and y represent the oordnate axes 37
4 XVIII Congresso Braslero de Automáta / a 6-setembro-00, Bonto-MS from the expermental table. The angle θ s defned n the fgure as the angle between the lne jonng the amera enter and the ds enter and the x axs, whle the α angle s related to the optal axs of the amera. The dstane d between the amera and the ds enter s also shown. The last parameter, a, represents the dstane between the ds enter and the optal axs of the amera. The followng equatons an then be wrtten x = d osθ () y = d sn θ (3) a (4) sn α = d θ ' = θ α (5) When the rle s not entered n the mage, t s possble to observe two dfferent values for r and R, the smaller and the larger sem-axes from the resultng ellpss n the mage, respetvely. A dstane a between the mage and the ds enter an be also observed. Assumng that the amera and the ds enters are always at the same vertal level, t s possble to affrm that the largest sem-axs wll only hange ts sze when the dstane n y s hanged. In other words, when the amera gets loser to the objet, the larger sem-axs wll beome larger n the mage, resultng n K d = (6) R a a (7) = r R where K s onstant and r s the atual radus of the ds. The above equatons were obtaned from the bas relatons of smlar trangles. To fnd the ds rotaton wth respet to the amera, t s possble to use the rato between the semaxes (see Fg. 7): r = = r R snθ θ sn (8) R One the equatons above are determned, t s possble to fnd the values for x, y and θ. For the tehnques mage, t s neessary to wrte the equatons for the feature varables $, $ and $ 3. For ths work, these varables wll be a, r and R, defned as $ = / R, $ = r / R, $ 3 = a / R. Rewrtng all the equatons, the values of x, y and θ beome (9) x = K $ $ y = K $ $ (0) r $ θ ' = sn () 3 ( $ ) sn K $ It s possble now to wrte n matrx form the relatonshp between the poston vetor q and the feature vetor $. From the parameter vetor p defned below t s possble to fnd the Image Jaoban transform matres J $p and J qp that orrelate small dsplaements δ$, δp and δq: δ$ δd δx δd and δ $ = J$p δθ δ y = Jqp δθ δ$ 3 δa ' a δθ δ δ$ δp δq δp () δx δ $ δy = J qp J $ δ $ (3) p δθ ' δ $ 3 where K 0 0 K 0 0 J $ p = 0 seθ (4) 0 0 r $ 0 0 r J qp K $ snθ = osθ tan d 0 0 = d 0 0 K $ r $ 3 ( θ θ ') se( θ θ ') $ $ r$ 3 K $ r $ 3 d osθ d snθ K $ $ K $ $ (5) Knowng the real and desred values of $, $ and $ 3, t s possble to fnd δx, δx and δθ usng Eq. (3). Fgure 7. Frontal and upper vews from the ds 4. Gener D Target For the seond part of the experments, nstead of usng a red rle, a gener D mage s hosen as a target. The hosen mage reflets the vew from a manpulator of a sub-sea manfold ontrol panel. Usng the SIFT method, the keyponts n the mages are obtaned. Frst, SIFT s appled to a referene mage from a known poston of the amera, obtanng the oordnates of the keyponts n spae. Wth these referene oordnates, t s possble to fnd the 38
5 XVIII Congresso Braslero de Automáta / a 6-setembro-00, Bonto-MS oordnates from the same ponts, found by a mathng tehnque, n mages taken from any other poston. The experment shemat s shown n Fg. 8, where x represents the atual dstane between the keyponts and the enter of the ontrol panel, and x represents the dstane n pxel oordnates from ther projeton to the enter of the mage. The rle tests use mages wth 960 x 70 pxels. The panel tests, on the other hand, use a lower resoluton beause the SIFT algorthm s relatvely slow, onsderably nreasng the proessng tme (5 seonds to proess a 960 x 70 pxel mage n Matlab TM ). As the vsual servo ontrol depends dretly on the proessng tme, the mage sze s hanged to 35 x 88 pxels. In look-and-move ontrol, however, a hgh resoluton mage an be used beause ths tehnque only needs to proess a sngle par of mages. In the rle test, t was desred to poston the amera 00 mm n the X axs, 00 mm n the Y axs, and wth no rotaton wth respet to the rle. In ths poston, t would be desred to see n the mage r = R = 95 pxels, and a = 0 pxels. The amera starts n x = 0m, y = 0m and θ = 0. The ntal mage seen from the amera and the desred mage are ndated n Fg. 9. Fgure 8. Experment sheme usng gener D objets as targets One the keypont spae and pxel oordnates are determned, and knowng that f s the foal length, ( x + x) snα + y osα ( x + x) and onsequently f = y tanα x tanα osα y x [ f x x x ] x tanα + y = [ f X ] X snα (6) (7) For M pars of ponts (x, x ), and usng the pseudo-nverse formulaton, the X vetor an be determned by f x xx x f x x x x X f = (8) f xm xm xm xm A A X = B X = pnv B ( A) B where pnv(a) s the pseudo-nverse of matrx A. One the vetor X s found, the desred dstanes (x, y, α) an be determned. 5 Expermental Results Two dfferent types of tests are performed. The frst tests use a red rle as a target, and the seond use the mage of the manfold panel, to represent an atual applaton. Fgure 9. Intal mage (left) and fnal desred mage (rght) Table ndates the reahed poston (x, y, θ) for eah ontrol tehnque. For look-and-move ontrol, the relatve poston (x rel, y rel, θ rel ) found by the software from the frst aptured mage s also ndated. Ths relatve poston s not shown for vsual servo ontrol, beause t s ontnually hanged as eah new mage s proessed. The last 3 lnes represent the fnal values of the features a, r and R, whh an be ompared to the desred values 95, 95 and 0 pxels dsussed above. Table. Fnal and desred postons for the four ontrol tehnques Move pose Move mage x rel 0 mm 79 mm y rel 80 mm 83 mm θ rel 0 3 Vsual- Servo pose 48 nteratons Vsual- Servo based on mage 0 nteratons x 07 mm 90 mm 00 mm 54 mm y 8 mm 84 mm 03 mm 05 mm θ r 79 pxels 83 pxels 00 pxels 89 pxels R 80 pxels 83 pxels 0 pxels 95 pxels a 5 pxels -37 pxels -0 pxels -37 pxels Note from the table that vsual-servo ontrol pose obtaned the best postonng results. The look-and-move ontrol s not very aurate beause t uses a sngle mage taken from the startng poston of the robot. Note also that the ontrols 39
6 XVIII Congresso Braslero de Automáta / a 6-setembro-00, Bonto-MS mage features obtaned dfferent fnal postons from the desred ones. Ths happened beause the hosen fnal onfguraton was lose to a sngularty of the Image Jaoban matrx. Therefore, the fnal mage aptured by the amera was atually very smlar from the desred one, however t was taken from a sgnfantly dfferent pose. Further tests wth desred fnal postons away from ths sngularty resulted n lower errors for the mage-based ontrols, smlar to the pose-es. For the panel test, t was desred to poston the amera n x = 80 mm, y = 50 mm, and wth θ = 30 wth respet to the panel. The ntal and desred vews are presented n Fg. 0. The poston results are presented n the Table. Fgure 0. Intal mage (left) and fnal desred mage (rght) Table. Fnal and desred postons for the four ontrol tehnques Move pose Move based on mage x rel 66 mm 66 mm y rel 59 mm 90 mm θ rel Vsual- Servo based on pose 3 nteratons Vsual- Servo mage 50 nteratons x 68 mm 68 mm 65 mm 70 mm y 63 mm 94 mm 70 mm 66 mm θ Table shows that for look-and-move ontrol the bggest error soure was due to the lmtatons n the resoluton of the mage, not on the poston ontrol tself. Ths s beause the relatve values x rel, y rel and θ rel estmated from a sngle mage wth lmted resoluton presented sgnfant errors of up to 6%, however the poston ontrol was able to move the amera to atual postons x, y and θ wthn % of x rel, y rel and θ rel. 6 Conlusons tme response of the system, or even make t unstable f hgh PID gans are used. Wth the red rle tests, t was possble to see how vsual-servo s better than look-and-move when the proessng tme s not an ssue. s pose and on mage had very smlar results, exept for onfguratons lose to sngulartes n the Image Jaoban matrx. Referenes Allota B., Colombo C., On the use of lnear ameraobjet nteraton models n vsualservong, IEEE Transaton on Robots and Automaton, pp , 999. Augustson T.M., Vson based real tme albraton of robots wth applaton n subsea nterventons, M.S. Thess, Pontfal Cathol Unversty of Ro de Janero, 007. Hartley R., Zsserman A. Multple Vew Geometry n Computer Vson. Cambrdge Unversty Press, 000. Houshang N., of a robot manpulator to grasp a movng target usng vson, IEEE Internatonal Conferene on Robots and Automaton, pp , 990. Huthnson S., Hager G., Corke P., A tutoral on vsual servo ontrol, IEEE Transatons on Robots and Automaton, pp , 996. Inoue H., Shra Y., Gudng a robot by vsual feedbak assemblng tasks, Eletrotehnal Laboratory Chyoda-ku Tokyo, Japan, 97. Lowe D.G., Dstntve mage features from salenvarant keyponts, Internatonal Journal of Computer Vson, v.60, n., pp. 9-0, 004. Ngr I., Comparação entre es Move e Servo-Vsual Utlzando Transformadas SIFT em Manpuladores do Tpo Eye-n-Hand, M.S. Thess, Pontfal Cathol Unversty of Ro de Janero, 009. Sanderson A., Wess L., Image-based vsual servo ontrol usng relatonal graph error sgnals, Pro. IEEE Internatonal Conferene on Robots and Automaton, pp , 980. Smth E., Papankolopoulos N. Vson-Guded Robot Graspng: Issues and Experments, IEEE Internatonal Conferene on Robots and Automaton, pp , 996. The man objetve of ths work onssted n omparng the look-and-move and vsual-servo mage ontrol tehnques. Usng the SIFT algorthm, t was possble to apply vsual ontrol to poston the amera n any pose wth respet to a gener D mage. The resultng ontrol s robust beause the SIFT tehnque an handle mage translatons, rotatons, salng, and even llumnaton hanges. But, even though t s very used n the lterature, SIFT s stll a slow algorthm when used n real tme. The large resultng samplng perod may nrease too muh the 330
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