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Proceedings Paper

Task Panel Sensing with a Movable Camera
Author(s): William J. Wolfe; Donald W. Mathis; Michael Magee; William Hoff
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Paper Abstract

This paper discusses the integration of model based computer vision with a robot planning system. The vision system deals with structured objects with several movable parts (the "Task Panel"). The robot planning system controls a T3-746 manipulator that has a gripper and a wrist mounted camera. There are two control functions: move the gripper into position for manipulating the panel fixtures (doors, latches, etc.), and move the camera into positions preferred by the vision system. This paper emphasizes the issues related to repositioning the camera for improved viewpoints.

Paper Details

Date Published: 1 March 1990
PDF: 8 pages
Proc. SPIE 1193, Intelligent Robots and Computer Vision VIII: Systems and Applications, (1 March 1990); doi: 10.1117/12.969804
Show Author Affiliations
William J. Wolfe, University of Colorado at Denver (United States)
Donald W. Mathis, University of Colorado at Denver (United States)
Michael Magee, University of Wyoming (United States)
William Hoff, Martin Marietta Astronautics Group (United States)

Published in SPIE Proceedings Vol. 1193:
Intelligent Robots and Computer Vision VIII: Systems and Applications
Bruce G. Batchelor, Editor(s)

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