An auto visual servoing manipulator for seafood harvesting

Nan Wang; Xuewen Yang; Shuxin Shen; Yanni Cui

doi:10.1117/12.2579315

12 October 2020 An auto visual servoing manipulator for seafood harvesting

Nan Wang, Xuewen Yang, Shuxin Shen, Yanni Cui

Proceedings Volume 11574, International Symposium on Artificial Intelligence and Robotics 2020; 115740S (2020) https://doi.org/10.1117/12.2579315
Event: International Symposium on Artificial Intelligence and Robotics (ISAIR), 2020, Kitakyushu, Japan

Abstract

Seafood growing in the bottom of sea is difficult to harvest. In this work, an auto visual servoing manipulator is proposed to automatically collect the seafood scattered on the sea floor. The realization of the self-grasping method is due to the close feedback control of the visual information acquired by the vision system. YOLO framework is used as the detection unit to recognize the object from the eye-in-hand module. Then, the center coordinate of the object will be transformed to a 3D position by camera calibration matrix. Movement of each joint of the manipulator are then calculated. The proposed manipulator features low-weight and low-cost and can be mounted at any underwater unmanned vehicles, helping to harvest quickly.

Citation Download Citation

Nan Wang, Xuewen Yang, Shuxin Shen, and Yanni Cui "An auto visual servoing manipulator for seafood harvesting", Proc. SPIE 11574, International Symposium on Artificial Intelligence and Robotics 2020, 115740S (12 October 2020); https://doi.org/10.1117/12.2579315

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