B. Yoshimi and P. K. Allen. Alignment using an uncalibrated camera system. In Proc. DARPA Image Understanding Workshop, Washington, 1993.  Home/Search   Document Details and Download   Summary   Related Articles   Check

....servoing. Self calibration is sometimes a proposed solution, like in [26] In several cases, pose computation is also exploited for improving the knowledge of the interaction matrix. Geometry is also a central issue in recent works where a single camera is used, either in an eye in hand approach [53, 47, 7, 4, 40] or as a global scene sensor [17] Affine geometry is used in [7, 4] and [47] considers a weak perspective model. In [40] a partial pose computation allows the authors to propose a control scheme mixing image features and quasi geometric issues. It should be noticed that, like in the case of ....

....vision, sensitivity to calibration uncertainties is here also a major concern. Many of the cited references claim their robustness, obtained either by using a few specific motions for self calibration [47, 7] or intrinsically, in general implicitly thanks to the use of some geometric properties [40, 53]. Vigor, Esprit IV reactive ltr project, number 26247 REFERENCES 13 5 Discussion Visual servoing has a 20 year history of development. Most existing techniques use, however, calibrated cameras. One built in feature of visual servoing and, more precisely, of image based servoing is that it can ....

B.H. Yoshimi and P.K. Allen. Alignment using an uncalibrated camera system. IEEE Trans. on Robotics and Automation, 11(4):516--521, August 1995.

....servoing problem since the sensor directly measures the relationship between the robot and workpiece. In this case the transformation between hand and eye must be computed for the three dimensional approach (Horaud and Dornika 1995) although uncalibrated imagebased techniques have also been used (Yoshimi and Allen 1995). There is the additional bene t of scaling; that as the robot approaches the target position, the size of features on the workpiece grows in the image plane. This enables greater accuracy to be obtained in positioning, but in general provides less control over lighting conditions and the use of ....

Yoshimi, B. and Allen, P.: 1995, Alignment using an uncalibrated camera system, IEEE T-Robotics and Automation 11(4), 516-521.

....based upon 2D vision measurements. That in turn requires the internal and external camera parameters to be calibrated which is difficult and cumbersome. Recently, the idea of uncalibrated visual guidance has attracted more attention. Skaar et al. 1987) described camera space manipulation while (Yoshimi and Allen, 1996) demonstrated 2D alignment of an eye on hand manipulator using rotational epipolar motion. Both (Hager et al. 1995) and (Cipolla and Hollinghurst, 1994) exploit a nearly uncalibrated stereo camera setup. Recent work shows the feasibility using the well known image Jacobian. In (Jagersand et al. ....

Yoshimi, B. and P. Allen (1996). Alignment using an uncalibrated camera system. IEEE Trans. Robot. Automat. 12(5), 516--521.

....That in turn requires the internal and external camera parameters to be calibrated which is difficult and cumbersome. In the last years the idea of uncalibrated visual guidance found more and more attention. Skaar et al. 9] described camera space manipulation while Yoshimi and Allen [11] demonstrated 2D alignment of an eyeon hand manipulator using rotational epipolar motion. Both Hager [4] and Hollinghurst Cipolla [2] exploits a nearly uncalibrated stereo camera setup. Also Hager introduced the ideas of projective invariance into the field of uncalibrated visual control [3] ....

B. Yoshimi and P. Allen. Alignment using an uncalibrated camera system. IEEE Trans. Robot. Automat., 12(5):516--521, 1996. 6

....to recalibrate each time the system moves. What is needed is an on line method of calibration that updates the relationships between the imaging and actuation systems. We have developed a new set of algorithms that can perform precise alignment and positioning without the need for calibration [Yoshimi and Allen 1993, Yoshimi and Allen 1994a] By extracting control information directly from the image, we free our technique from the errors normally associated with a fixed calibration. We attach a camera system to a robot such that the camera system and the robot s gripper rotate simultaneously. As the camera ....

B. Yoshimi and P. K. Allen. Alignment using an uncalibrated camera system. In Proc. DARPA Image Understanding Workshop, Washington, 1993.

.... by Nicholls [10] Two recent papers that discuss using tactile sensors without vision to estimate forces and contacts are [8, 9] Our own work has explored the capability of vision systems to track and grasp moving objects [1] and use uncalibrated visual servoing to perform alignment tasks [17]. This work motivated us to use stereo vision to control an uninstrumented gripper in simple grasping tasks [18, 16] The robotic hand used in that research had no internal sensing, and thus vision system could not report forces being applied to the grasped objects. Figure 1: The Barrett Hand ....

B. Yoshimi and P. Allen. Alignment using an uncalibrated camera system. IEEE Trans. on Robotics and Automation, 11(4):516--521, August 1995.

....et al. 3] have used Image Jacobian based control to perform various positioning tasks. Sharma et al. 8] use perceptual 3D surfaces to represent the workspace of the gripper and object and they plan their positioning tasks along these surfaces. Other systems which have used visual control include [10, 7, 6, 9, 13, 1]. Our system is specifically aimed at merging vision with grasping by providing visual control of position and contact using sensorless robotic fingers and hands. Details on this research can be found in [12] 2 Experimental system The system pictured in figure 1 shows the major components of ....

B. H. Yoshimi and P. Allen. Alignment using an uncalibrated camera system. In Proceedings: Image Understanding Workshop, pages 411--420, 1993.

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B. Yoshimi and P. K. Allen. Alignment using an uncalibrated camera system. In Proc. DARPA Image Understanding Workshop, Washington, 1993.

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