On-line stable evolutionary recognition by quaternion motion-feedforward compensation

This paper presents a pose measurement method of a 3D object. The proposed method utilizes an evolutionary search technique of a genetic algorithm (GA) and a fitness evaluation based on a matching stereo model 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 simulation experiments.