Particle Filtering for Industrial 6DOF Visual Servoing

Visual servoing allows the introduction of robotic manipulation in dynamic and uncontrolled environments. This paper presents a position-based visual servoing algorithm using particle filtering. The objective is the grasping of objects using the 6 degrees of freedom of the robot manipulator in non-automated industrial environments using monocular vision. A particle filter has been added to the position-based visual servoing algorithm to deal with the different noise sources of those industrial environments. Experiments performed in the real industrial scenario of ROBOFOOT (http://www.robofoot.eu/) project showed accurate grasping and high level of stability in the visual servoing process.