Application of a precision-enhancing measure in 3D rigid-body positioning using camera-space manipulation
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This article presents an iterative procedure for improving the precision obtainable with camera-space manipulation. It also reports on extensive experimental results using this procedure with a task of some historical note in the area of vision-guided robotics, a task that involves close-tolerance, 3D, rigid-body assembly. The procedure was devised to achieve higher precision by introducing to parameter estimates the accuracy of the `perspective%27 camera model, while retaining the numerical advantage of the orthographic model. The camera-space coordinates of each of several visually detected cues on the grasped object are multiplied by an iteratively improved correction factor, so that the modified image-plane appearances of the cues more closely approach the ideal of an orthographic projection. The correction factor is normalized near the point of maneuver termination so that camera-space maneuver objectives may stay unchanged. A similar strategy may be used to determine the camera-space objectives themselves. Results of experimental and simulation studies are presented and discussed.
This article presents an iterative procedure for improving the precision obtainable with camera-space manipulation. It also reports on extensive experimental results using this procedure with a task of some historical note in the area of vision-guided robotics, a task that involves close-tolerance, 3D, rigid-body assembly. The procedure was devised to achieve higher precision by introducing to parameter estimates the accuracy of the `perspective' camera model, while retaining the numerical advantage of the orthographic model. The camera-space coordinates of each of several visually detected cues on the grasped object are multiplied by an iteratively improved correction factor, so that the modified image-plane appearances of the cues more closely approach the ideal of an orthographic projection. The correction factor is normalized near the point of maneuver termination so that camera-space maneuver objectives may stay unchanged. A similar strategy may be used to determine the camera-space objectives themselves. Results of experimental and simulation studies are presented and discussed.
