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Proceedings Paper

Three-dimensional camera-space manipulation using servoable cameras
Author(s): Umesh A. Korde; Emilio Gonzalez-Galvan; Steven B. Skaar
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Paper Abstract

Using the method of camera-space manipulation, high-precision, 3-dimensional rigid-body positioning tasks have been performed with a holonomic, six-axis, GMF S-400 robot. Further development, aimed at expanding the usable region of the robot's workspace; and at achieving the higher precision enabled by a narrower field of view for the cameras, includes the use of cameras mounted on servoable platforms or `pan/tilt' units. The approach followed in the implementation of servoable cameras is designed to make use of information `learned' before camera repositioning to update view parameter estimates without undergoing large extraneous arm movement. The paper describes this approach and presents the first results of experimental work used for testing it.

Paper Details

Date Published: 1 November 1992
PDF: 10 pages
Proc. SPIE 1825, Intelligent Robots and Computer Vision XI: Algorithms, Techniques, and Active Vision, (1 November 1992); doi: 10.1117/12.131570
Show Author Affiliations
Umesh A. Korde, Univ. of Notre Dame (United States)
Emilio Gonzalez-Galvan, Univ. of Notre Dame (United States)
Steven B. Skaar, Univ. of Notre Dame (United States)


Published in SPIE Proceedings Vol. 1825:
Intelligent Robots and Computer Vision XI: Algorithms, Techniques, and Active Vision
David P. Casasent, Editor(s)

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