Visual Servo Control of COVID-19 Nasopharyngeal Swab Sampling Robot
Guebin Hwang,Jongwon Lee,Sungwook Yang,Guebin Hwang,Jongwon Lee,Sungwook Yang
In this study, we present a visual servo control framework for fully automated nasopharyngeal swab robots. The proposed framework incorporates a deep learning-based nostril detection with a cascade approach to reliably identify the nostrils with high accuracy in real time. In addition, a partitioned visual servoing scheme that combines image-based visual servoing with axial control is formulated f...
