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Proceedings Paper

Six-Dimensional Vision System
Author(s): J. Albus; E. Kent; M. Nashman; P. Mansbach; L. Palombo; M. Shneier
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Paper Abstract

There are six degrees of freedom that define the position and orientation of any object relative to a robot gripper. All six need to be determined for the robot to grasp the object in a uniquely specified manner. A robot vision system under development at the National Bureau of Standards is designed to measure all six of these degrees of freedom using two frames of video data taken sequentially from the same camera position. The system employs structured light techniques; in the first frame, the scene is illuminated by two parallel planes of light, and in the second frame by a point source of light.

Paper Details

Date Published: 22 November 1982
PDF: 12 pages
Proc. SPIE 0336, Robot Vision, (22 November 1982); doi: 10.1117/12.933622
Show Author Affiliations
J. Albus, National Bureau of Standards (United States)
E. Kent, National Bureau of Standards (United States)
M. Nashman, National Bureau of Standards (United States)
P. Mansbach, National Bureau of Standards (United States)
L. Palombo, National Bureau of Standards (United States)
M. Shneier, University of Maryland (United States)


Published in SPIE Proceedings Vol. 0336:
Robot Vision
Azriel Rosenfeld, Editor(s)

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