22 September 1997 Target specification error optimal camera configuration for vision-based robotics
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Proceedings Volume 3209, Sensor Fusion and Decentralized Control in Autonomous Robotic Systems; (1997) https://doi.org/10.1117/12.287631
Event: Intelligent Systems and Advanced Manufacturing, 1997, Pittsburgh, PA, United States
Abstract
Applications of vision based remotely operated robotic systems range from planetary exploration to hazardous waste remediation. For space applications, where communication time- lags are large, the target selection and robot positioning tasks may be performed sequentially, differing from conventional tele-robotic maneuvers. For these point-and-move systems, the desired target must be defined in the image planes of the cameras either by an operator or through image processing software. Ambiguity of the target specification will naturally lead to end-effector positioning errors. In this paper, the target specification error covariance is shown to transform linearly to the end-effector positioning error. In addition, a methodology for target specification error optimal estimation of camera view parameters of a vision based robotic system is presented. A cost function is examined based on minimizing the end-effector error covariance matrix. Simulation and experimental results are presented.
© (1997) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Haluk Kucuk, Haluk Kucuk, Gordon G. Parker, Gordon G. Parker, Nicholas Klymyshyn, Nicholas Klymyshyn, Eric T. Baumgartner, Eric T. Baumgartner, } "Target specification error optimal camera configuration for vision-based robotics", Proc. SPIE 3209, Sensor Fusion and Decentralized Control in Autonomous Robotic Systems, (22 September 1997); doi: 10.1117/12.287631; https://doi.org/10.1117/12.287631
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