| ECVision indexed and annotated bibliography of cognitive computer vision publications This bibliography was created by Hilary Buxton and Benoit Gaillard, University of Sussex, as part of ECVision Specific Action 8-1 The complete text version of this BibTeX file is available here: ECVision_bibliography.bib
J. Pauli and A. Schmidt and G. Sommer
ABSTRACT
Image-based effector servoing is a process of perception-action cycles for handlinga robot effector under continual visual feedback. This paper applies visual servoingmechanisms not only for handling objects, but also for camera calibration and objectinspection. A 6-DOF manipulator and a stereo camera head are mounted on separateplatforms and are steered independently. In a first phase (calibration phase), camerafeatures are determined like the optical axes and the fields of sharp view. In thesecond phase (inspection phase), the robot hand carries an object into the field ofview of one camera, then approaches the object along the optical axis to the camera,rotates the object for reaching an optimal view, and finally the object shape isinspected in detail. In the third phase (assembly phase), the system localizes a boardcontaining holes of different shapes, determines the hole which fits most appropriateto the object shape, then approaches and arranges the object appropriately. Thefinal object insertion is based on haptic sensors, but is not treated in the paper.At present, the robot system has the competence to handle cylindrical and cuboidpegs. For handling other object categories the system can be extended with moresophisticated strategies of the inspection and/or assembly phase. |
|
| Site generated on Friday, 06 January 2006
|