Multiple Camera Uncalibrated Visual Servo
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Multi Camera Uncalibrated Visual Servoing
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Author : Matthew Q. Marshall
language : en
Publisher:
Release Date : 2013
Multi Camera Uncalibrated Visual Servoing written by Matthew Q. Marshall and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013 with Control theory categories.
Uncalibrated visual servoing (VS) can improve robot performance without needing camera and robot parameters. Multiple cameras improve uncalibrated VS precision, but no works exist simultaneously using more than two cameras. The first data for uncalibrated VS simultaneously using more than two cameras are presented. VS performance is also compared for two different camera models: a high-cost camera and a low-cost camera, the difference being image noise magnitude and focal length. A Kalman filter based control law for uncalibrated VS is introduced and shown to be stable under the assumptions that robot joint level servo control can reach commanded joint offsets and that the servoing path goes through at least one full column rank robot configuration. Adaptive filtering by a covariance matching technique is applied to achieve automatic camera weighting, prioritizing the best available data. A decentralized sensor fusion architecture is utilized to assure continuous servoing with camera occlusion. The decentralized adaptive Kalman filter (DAKF) control law is compared to a classical method, Gauss-Newton, via simulation and experimentation. Numerical results show that DAKF can improve average tracking error for moving targets and convergence time to static targets. DAKF reduces system sensitivity to noise and poor camera placement, yielding smaller outliers than Gauss-Newton. The DAKF system improves visual servoing performance, simplicity, and reliability.
Multiple Camera Uncalibrated Visual Servo
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Author : Jason E. Stavnitzky
language : en
Publisher:
Release Date : 1999
Multiple Camera Uncalibrated Visual Servo written by Jason E. Stavnitzky and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1999 with Computer vision categories.
Real Time Visual Servo Control Of A Robot Using Uncalibrated Cameras
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Author : Cai Xiao Jiao
language : en
Publisher:
Release Date : 2000
Real Time Visual Servo Control Of A Robot Using Uncalibrated Cameras written by Cai Xiao Jiao and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2000 with categories.
Robot Manipulators
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Author : Marco Ceccarelli
language : en
Publisher: IntechOpen
Release Date : 2008-09-01
Robot Manipulators written by Marco Ceccarelli and has been published by IntechOpen this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-09-01 with Technology & Engineering categories.
In this book we have grouped contributions in 28 chapters from several authors all around the world on the several aspects and challenges of research and applications of robots with the aim to show the recent advances and problems that still need to be considered for future improvements of robot success in worldwide frames. Each chapter addresses a specific area of modeling, design, and application of robots but with an eye to give an integrated view of what make a robot a unique modern system for many different uses and future potential applications. Main attention has been focused on design issues as thought challenging for improving capabilities and further possibilities of robots for new and old applications, as seen from today technologies and research programs. Thus, great attention has been addressed to control aspects that are strongly evolving also as function of the improvements in robot modeling, sensors, servo-power systems, and informatics. But even other aspects are considered as of fundamental challenge both in design and use of robots with improved performance and capabilities, like for example kinematic design, dynamics, vision integration.
An Uncalibrated Stereo Visual Servo System
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Author : Alistair Conkie
language : en
Publisher:
Release Date : 1990
An Uncalibrated Stereo Visual Servo System written by Alistair Conkie and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1990 with Binocular vision categories.
Abstract: "We describe a robotic system composed of a manipulator and two cameras. We use the vision system to guide the robot hand to a visible target. The camera positions are known only approximately. Our system does not use the details of the kinematics of the manipulator. There is no common frame of reference linking vision system, workspace and robot hand. The stereo vision system gives information in terms of picture coordinates. This information is used to control a three degree of freedom robot hand. We carried out real-world experiments to test out this idea."
Visual Guidance Of Unmanned Aerial Manipulators
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Author : Angel Santamaria-Navarro
language : en
Publisher: Springer
Release Date : 2018-08-18
Visual Guidance Of Unmanned Aerial Manipulators written by Angel Santamaria-Navarro and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-08-18 with Technology & Engineering categories.
This monograph covers theoretical and practical aspects of the problem of autonomous guiding of unmanned aerial manipulators using visual information. For the estimation of the vehicle state (position, orientation, velocity, and acceleration), the authors propose a method that relies exclusively on the use of low-cost and highrate sensors together with low-complexity algorithms. This is particularly interesting for applications in which on board computation with low computation power is needed. Another relevant topic covered in this monograph is visual servoing. The authors present an uncalibrated visual servo scheme, capable of estimating at run time, the camera focal length from the observation of a tracked target. The monograph also covers several control techniques, which achieve a number of tasks, such as robot and arm positioning, improve stability and enhance robot arm motions. All methods discussed in this monograph are demonstrated in simulation and through real robot experimentation. The text is appropriate for readers interested in state estimation and control of aerial manipulators, and is a reference book for people who work in mobile robotics research in general.
Towards Practical Uncalibrated Visual Servoing
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Author : Oscar A. Ramirez
language : en
Publisher:
Release Date : 2016
Towards Practical Uncalibrated Visual Servoing written by Oscar A. Ramirez and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with Computer vision categories.
When controlling dynamic systems such as robots a big challenge lies in defining how the desired actions will be accomplished. In industrial settings automation has been possible due to the structured and predictable environments. The repeatability of the tasks makes it viable to manually automate them. Moving to dynamic and unstructured environments, such as human settings and the outdoors, makes such approaches impractical. Uncalibrated Visual Servoing (UVS) presents a viable approach to facilitate robot control and task definition in unstructured environments. UVS can be applied either in autonomous systems, or as a direct interface for users to manage the robot. Tasks are defined through visual features directly in image space. By estimating the full non-parametric image Jacobian no a-priori models or camera calibration is required. Real-world adoption of UVS has been slow despite over forty years of research. This work presents a minimalistic framework and accompanying software library for UVS. The goal is to enable users to create a variety of visual servoing systems using low complexity control interfaces that easily interact with visual tracking systems to produce a complete environment able to drive robot control. Our library, ROS-UVS, has now been used with several robots for a variety of tasks such as pick and place with a WAM manipulator and quadrotor assisted flight control. Our implementation, developed within the ROS framework, has proven to be flexible, robust and easy to use and integrate across multiple robots and control interfaces. A simulation environment is also available allowing users to try out our system. Finally, through the use of ROS-UVS we explore the performance of UVS both in simulation and with a physical robot. Characterizing the behaviour of UVS will help facilitate adoption for new users and serves to showcase the features and applications of our library.
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Author :
language : en
Publisher:
Release Date : 1917
written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1917 with categories.
Image Based Visual Servoing For Robotic Systems
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Author :
language : en
Publisher:
Release Date : 2002
Image Based Visual Servoing For Robotic Systems written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2002 with categories.
The objective of this project is to enable current and future EM robots with an increased ability to perceive and interact with unstructured and unknown environments through the use of camera-based visual servo controlled robots. The scientific goals of this research are to develop a new visual servo control methodology that: (1) adapts for the unknown camera calibration parameters (e.g., focal length, scaling factors, camera position and orientation) and the physical parameters of the robotic system (e.g., mass, inertia, friction), (2) compensates for unknown depth information (extract 3D information from the 2D image), and (3) enables multi-uncalibrated cameras to be used as a means to provide a larger field-of-view. Nonlinear Lyapunov-based techniques are being used to overcome the complex control issues and alleviate many of the restrictive assumptions that impact current visual servo controlled robotic systems. The potential relevance of this control methodology will be a plug-and-play visual servoing control module that can be utilized in conjunction with current technology such as feature extraction and recognition, to enable current EM robotic systems with the capabilities of increased accuracy, autonomy, and robustness, with a larger field of view (and hence a larger workspace). These capabilities will enable EM robots to significantly accelerate D & D operations by providing for improved robot autonomy and increased worker productivity, while also reducing the associated costs, removing the human operator from the hazardous environments, and reducing the burden and skill of the human operators.
Multi View Geometry Based Visual Perception And Control Of Robotic Systems
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Author : Jian Chen
language : en
Publisher: CRC Press
Release Date : 2018-06-14
Multi View Geometry Based Visual Perception And Control Of Robotic Systems written by Jian Chen and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-06-14 with Computers categories.
This book describes visual perception and control methods for robotic systems that need to interact with the environment. Multiple view geometry is utilized to extract low-dimensional geometric information from abundant and high-dimensional image information, making it convenient to develop general solutions for robot perception and control tasks. In this book, multiple view geometry is used for geometric modeling and scaled pose estimation. Then Lyapunov methods are applied to design stabilizing control laws in the presence of model uncertainties and multiple constraints.