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Proceedings Paper

Multiple laser spots for camera-space objectives
Author(s): Matthew L. Robinson; Steven B. Skaar; Michael J. Seelinger
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Paper Abstract

This paper discusses advancements in the speed of a semi- autonomous, calibration-free robot-control system which uses camera-space manipulation. Robust and precise vision-based manipulation using camera-space manipulation requires the establishment of 2D camera-space objectives in each uncalibrated camera which are consistent with the task objectives. The increased speed in the system stems from the rapid placement of `common points' for the determination of compatible maneuver objectives in the image planes of each of the participant, widely separated, uncalibrated cameras. The previous system used a single-spot laser pointer mounted on a two-axis pan/tilt unit to crate the `common points' in each of the participating cameras. In a time consuming process, the pan/tilt unit servoed the laser spot to each of the specified locations in a selection camera. The current, improved system uses structured lighting to create a grid of laser sports from a single laser spots in the 2D image planes of each camera and the matching of spots among cameras will be discussed. In regions of greater surface curvature more laser spots are needed to be placed to `capture' better the local curvature of the workpiece. This is achieved by a user-prescribed density of laser spots, as well as user-specified interpolation model. The interpolation model is used for the determination of the image plane task objectives of the participant cameras from targets specified in the selection camera using a number of the `common points'. For relatively flat regions a linear model is used whereas a quadratic model may be employed for regions of higher curvature. This paper also presents results using the new system which demonstrate its speed and high level of accuracy in the positioning and orientation of an end effector with respect to a 3D body of arbitrary position and orientation.

Paper Details

Date Published: 9 October 1998
PDF: 12 pages
Proc. SPIE 3523, Sensor Fusion and Decentralized Control in Robotic Systems, (9 October 1998); doi: 10.1117/12.327008
Show Author Affiliations
Matthew L. Robinson, Univ. of Notre Dame (United States)
Steven B. Skaar, Univ. of Notre Dame (United States)
Michael J. Seelinger, Univ. of Notre Dame (United States)

Published in SPIE Proceedings Vol. 3523:
Sensor Fusion and Decentralized Control in Robotic Systems
Paul S. Schenker; Gerard T. McKee, Editor(s)

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