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Proceedings Paper

Manipulator control by calibration-free stereo vision
Author(s): Karl Vollmann; Minh-Chinh Nguyen
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Paper Abstract

Based on the concept of object- and behavior-oriented stereo vision, a method is introduced which enables a robot manipulator to handle two distinct types of objects. It uses an uncalibrated stereo vision system and allows a direct transition from image coordinates to motion control commands of a robot. An object can be placed anywhere in the robot's 3D work space which is in the field of view of both cameras. The objects to be manipulated can either be of flat cylindrical or elongate shape. Results gained from real- world experiments are discussed.

Paper Details

Date Published: 29 October 1996
PDF: 9 pages
Proc. SPIE 2904, Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling, (29 October 1996); doi: 10.1117/12.256278
Show Author Affiliations
Karl Vollmann, Federal Armed Forces Univ. Munich (Germany)
Minh-Chinh Nguyen, Federal Armed Forces Univ. Munich (Germany)


Published in SPIE Proceedings Vol. 2904:
Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling
David P. Casasent, Editor(s)

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