Three-Dimensional Camera Space Manipulation

Skaar, Steven B.; Brockman, William H.; Jang, Wan-Shik

doi:10.1177/027836499000900402

Cited by 66 publications

(29 citation statements)

References 2 publications

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“…This technique is an extension of the work by Skaar et al 10,11 which has been come to be known as Camera Space Manipulation CSM. In the CSM approach, widely separated cameras are utilized to determine the direct relationship between the joint rotations of a manipulator and the image-plane or camera-space appearance of a cue" located on the manipulator's end-e ector.…”

Section: Hybrid Image-plane Stereo Hips Manipulationmentioning

confidence: 96%

<title>Sensor-fused navigation and manipulation from a planetary rover</title>

et al. 1998

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This paper describes the development o f a d v anced rover navigation and manipulation techniques for use by NASA's Sample Return Rover. These techniques include an algorithm for estimating the change in the rover's position and orientation by registering successive range maps from the rover's hazard avoidance stereo camera pair and the fusion of this information with the rover's wheel odometry. This map registration technique is also extended to register range maps to an a priori model-based range map for relative r o ver position and orientation determination. Finally, a technique for the robust and precise positioning of a r o ver-mounted manipulator using visual feedback from the rover's stereo pair is presented. Experimental results for each of these techniques is documented in this paper.

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Section: Hybrid Image-plane Stereo Hips Manipulationmentioning

confidence: 96%

<title>Sensor-fused navigation and manipulation from a planetary rover</title>

et al. 1998

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“…Several approaches have been proposed, derived from the method known as Camera Space Manipulation (CSM) [8]. The HIPS approach [9] proposes to refine the model parameters during the approach of the instrument, in order to ensure having a very precise local model around the target.…”

Section: Related Workmentioning

confidence: 99%

Teachless teach-repeat: Toward vision-based programming of industrial robots

Perrollaz

Khorbotly

Cool

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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Abstract-Modern programming of industrial robots is often based on the teach-repeat paradigm: a human operator places the robot in many key positions, for teaching its task. Then the robot can repeat a path defined by these key positions. This paper proposes a vision-based approach for the automation of the teach stage. The approach relies on a constant autocalibration of the system. Therefore, the only requirement is a precise geometrical description of the part to process. The realism of the approach is demonstrated through the emulation of a glue application process with an industrial robot. Results in terms of precision are very promising.

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“…The affine approximation leads to a linear estimation and control problem, however it also means that the system calibration is only locally valid. A similar image-based system appears in [16], [22] with the difference that an attempt is made to modify the approximate linear model online. This paper describes an image-based ECL system that uses a globally valid perspective model.…”

Section: Related Workmentioning

confidence: 99%

“…The vector parameterizing the projection of in normalized coordinates in camera is given by (22) These are also known as the Pluckër coodinates for the line [29]. In vector form, this is written As with points, the stereo projection of is written Geometrically, is normal to the plane passing through the center of projection of the camera containing the point and the vector…”

Section: B Projection and Estimation Of Point And Line Featuresmentioning

confidence: 99%

A modular system for robust positioning using feedback from stereo vision

Hager

1997

IEEE Trans. Robot. Automat.

144

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Abstract-This paper introduces a modular framework for robot motion control using stereo vision. The approach is based on a small number of generic motion control operations referred to as primitive skills. Each primitive skill uses visual feedback to enforce a specific task-space kinematic constraint between a robot end-effector and a set of target features. By observing both the end-effector and target features, primitive skills are able to position with an accuracy that is independent of errors in handeye calibration. Furthermore, primitive skills are easily combined to form more complex kinematic constraints as required by different applications. These control laws have been integrated into a system that performs tracking and control on a single processor at real-time rates. Experiments with this system have shown that it is extremely accurate, and that it is insensitive to camera calibration error. The system has been applied to a number of example problems, showing that modular, high precision, vision-based motion control is easily achieved with off-the-shelf hardware.

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Three-Dimensional Camera Space Manipulation

Cited by 66 publications

References 2 publications

<title>Sensor-fused navigation and manipulation from a planetary rover</title>

<title>Sensor-fused navigation and manipulation from a planetary rover</title>

Teachless teach-repeat: Toward vision-based programming of industrial robots

A modular system for robust positioning using feedback from stereo vision

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