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RDF description of An optimal path-tracking algorithm for unstructured environments based on uncalibrated vision - http://orbis.uaslp.mx/vivo/individual/scopus8528
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date: 2026-08-27T06:40:19
publisher: vivo
type: Document

Article
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Proceedings - IEEE International Conference on Robotics and Automation
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publication venue for: An optimal path-tracking algorithm for unstructured environments based on uncalibrated vision
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type: Proceedings

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An optimal path-tracking algorithm for unstructured environments based on uncalibrated vision
most specific type: Document
type: Thing
type: Entity
page end: 2552
crisid: 8529
has publication venue: Proceedings - IEEE International Conference on Robotics and Automation
related by: authorship_55343
origen: scopus
page start: 2547
EI dscopus: 2-s2.0-33846168100
doi: 10.1109/ROBOT.2005.1570496
type: Continuant
related by: authorship_55342
related by: authorship_55341
type: Conference Paper
artnum: 1570496
most specific type: Conference Paper
date time value: conference paper date 8529
estado: published
type: Document
related by: authorship_55340
type: Information Content Entity
type: Article
freetext keyword: Camera-space manipulation; Estimation; Vision Algorithms; Cameras; Computer vision; Industrial robots; Lasers; Welding; Camera-space manipulation; Path-tracking algorithm; Unstructured surfaces; Motion planning
volume: 2005
type: Generically Dependent Continuant
abstract: This paper presents aspects related to the development of a technique for three-dimensional path tracking over unstructured surfaces. Path tracking is performed by an industrial robot, using a vision-based technique known as camera-space manipulation. In this work a previously-defined, three-dimensional trajectory is placed, in an optimal fashion, over a curved, unstructured surface. The method was tested with an industrial Fanuc ArcMate 100i robot, together with structured lighting in the form of a matrix array of laser beams. Such source of light provides a way to facilitate the image-analysis process required to characterize the surface where the task is going to be performed. A demanding industrial task such as welding was performed with the methodology presented herein. Experimental results show a complex path welded over a surface of unknown geometry. © 2005 IEEE.

Conference Paper
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