Efficient camera-space manipulation using moments Conference Paper

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Overview

abstract

• The paper introduces a new estimation approach to the method of camera-space manipulation - a robust and precise means of controlling 3-dimensional robot maneuvers using vision. This approach reduces the computational and memory burden required by the formerly used %27batch%27 estimation approach while retaining identical results. The discussion includes actual experimental results wherein reliable, millimeter positioning precision with a 3-dimensional, rigid-body task is achieved using a very large GMF S400 robot.
• The paper introduces a new estimation approach to the method of camera-space manipulation - a robust and precise means of controlling 3-dimensional robot maneuvers using vision. This approach reduces the computational and memory burden required by the formerly used 'batch' estimation approach while retaining identical results. The discussion includes actual experimental results wherein reliable, millimeter positioning precision with a 3-dimensional, rigid-body task is achieved using a very large GMF S400 robot.

authors

• Gonzalez-Galvan Emilio J.
• Skaar Steven B.

publication date

• 1996-01-01

published in

• Proceedings - IEEE International Conference on Robotics and Automation  Proceedings

Research

keywords

• Camera space manipulation; Extended Kalman filter; Calculations; Cameras; Computer vision; Estimation; Image analysis; Mathematical models; Robots; Robustness (control systems); Three dimensional; Manipulators

Additional Document Info

start page

• 3407

end page

• 3412

volume

• 4