Visual Servoing Using Projective Kinematics
نویسندگان
چکیده
This paper presents a new approach to controlling a robot from video-feedback. In contrast to classical approaches, the entire system is modeled by means of projective geometry. For the robot’s geometry in particular, we introduce a new formalism “projective kinematics”. As a result, motions in jointand image-space can be related without metric calibration, and a corresponding visual control law can be derived. We present experiments for projective robot calibration and visual servoing, both using uncalibrated cameras.
منابع مشابه
Visual Control Using Projective Kinematics
This paper presents a new approach to controlling a robot from video-feedback. In contrast to classical approaches, the entire system is modeled by means of projective geometry. For the robot’s geometry in particular, we introduce a new formalism “projective kinematics”. As a result, motions in jointand imagespace can be related without metric calibration, and a corresponding visual control law...
متن کاملVisual Servoing of Robot Manipulators Part I: Projective Kinematics
Visual servoing of robot manipulators is a key technique where video images, i.e. the visual appearance of an object is used to control the end-e ector. Most such methods use robots and cameras that have been calibrated. In this report we suggest a non-metric formulation of visual servoing that works with an uncalibrated stereo rig, i.e. in the projective space associated with it. In consequenc...
متن کاملRigid and Articulated Motion Seen with an Uncalibrated
This paper establishes a link between uncalibrated stereo vision and the motion of rigid and articulated bodies. The variation in the projective reconstruction of a dynamic scene over time allows an uncalibrated stereo rig to be used as a faithful motion capturing device. We introduce an original theoretical framework { projective kinematics { which allows rigid and articulated motion to be rep...
متن کاملRigid and Articulated Motion Seen with an Uncalibrated Stereo Rig
This paper establishes a link between uncalibrated stereo vision and the motion of rigid and articulated bodies. The variation in the projective reconstruction of a dynamic scene over time allows an uncalibrated stereo rig to be used as a faithful motion capturing device. We introduce an original theoretical framework – projective kinematics – which allows rigid and articulated motion to be rep...
متن کاملVision-Based Guidance and Control of Robots in Projective Space
In this paper, we address the problem of visually guiding and controlling a robot in projective three-space using stereo vision. As the proposed method is entirely formulated in projective space, metric models of the system have become obsolete and ”easy-to-find” projective models of both, the stereo geometry and the robot’s “projective kinematics”, may be used. More precisely, a given task is ...
متن کامل