Target specification error optimal camera configuration for vision-based robotics

Haluk Kucuk; Gordon G. Parker; Nicholas Klymyshyn; Eric T. Baumgartner

doi:10.1117/12.287631

22 September 1997 Target specification error optimal camera configuration for vision-based robotics

Haluk Kucuk, Gordon G. Parker, Nicholas Klymyshyn, Eric T. Baumgartner

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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.

Citation Download Citation

Haluk Kucuk, Gordon G. Parker, Nicholas Klymyshyn, and 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); https://doi.org/10.1117/12.287631

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KEYWORDS

Cameras

Robotics

Robotic systems

Error analysis

Image processing software

Imaging systems

Robot vision

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