We de$ne a measure of “observability” of robot motion that can be used in evaluating a hand/eye set-up with respect to the ease of achieving vision-based control. This eztends the analysis of “manipulability” of a robotic mechanism in [9] to incorporate the effect of visual features. We discuss how the observability measure can be applied for active camera placement and for robot tmjectory plan...

Vision-aided flexible link robot positioning using the Camera Space Manipulation (CSM) method is developed. The primary motivation for this work is to use an autonomous vision-aided robotic system to pick-up and accurately move a flexible object that it encounters. The work consists of analytical and experimental investigation of the performance of CSM for a kinematic model of the PUMA manipula...

Most systems for generating cinematic shot sequences for virtual environments focus on the low-level problems of camera placement. While this approach will create a sequence of camera shots which film events in a virtual environment, it does not account for the high-level effects shot sequences have on viewer inferences. There have been some systems which are based on well known cinematography ...

In medicine and industry, there is a need for flexible multirobot platforms that allow for independent placement of multiple robotic manipulators. The Computer Aided Medical Procedures research group at Johns Hopkins University has developed a multi-robot surgical platform with two KUKA iiwa robotic manipulators. Each KUKA system is built into a mobile workstation, which makes them easy to tran...

This paper presents an algorithm for interpolating intermediate views along a chain of cameras. There is no restriction on the camera placement as long as the distance between successive cameras is not too large. The interpolated views lie on a virtual poly-line defined by the (ordered) set of cameras. Our algorithm requires no strong camera calibration as the necessary epipolar geometry is est...

Planning the placement of stereo cameras on a mobile robot is often a balancing act between the quality of stereo data, the reliability of stereo matching, and ensuring that the cameras see enough of the robot’s environment for navigation. In this paper, we present a nonlinear programming formulation to determine the optimal parameters for two stereo pairs of cameras and a camera mast for a mob...

6.1 Tracks 6.2 Genotyping scats and hair 6.3 Remote photography (camera trapping) Box 6A. Recording and measuring leopard tracks Box 6B. Collecting DNA samples from scat 7.1 Sampling design considerations i. Study area boundaries ii. Number and placement of units iii. Number of occasions for capture and recapture models iv. Adapting the sampling scheme to experience in actual capture rates for ...

The Epipolar Geometry Toolbox (EGT) was realized to provide a MATLAB user with an extensible framework for the creation and visualization of multiple camera systems and easy manipulation of the geometry relating them. Functions provided, for both pin-hole and panoramic vision sensors, include camera placement and visualization, computation and estimation of epipolar geometry entities and many o...

In this paper, we propose an efficient and easy-toimplement method for the interactive placement of virtual objects in a panorama. In particular, we developed a systematic approach for estimation of the camera parameters using a single panorama with reasonable human-computer interactions.

results the mean distances between the crestal bone and the implant shoulder in group 1 were 1.01, 1.44, and 1.93 mm at the implant placement time, and at the 6 and 12-month postoperative intervals, respectively. in group 2, these distances were 1.35, 1.20, and 1.41 mm, respectively. there were no significant differences in the marginal bone resorption between the two groups (p > 0.05). conclus...