Title :
Computing camera viewpoints in a robot work-cell
Author :
Abrams, Steven ; Allen, Peter K. ; Tarabanis, Konstantinos A.
Author_Institution :
Dept. of Comput. Sci., Columbia Univ., New York, NY, USA
Abstract :
Automatically planning a camera viewpoint for tasks such as inspection in an active robot work-cell is a difficult problem. This paper discusses new methods for computing viewpoints which meet the feature detectability constraints of focus, field-of-view, visibility, and resolution. A theoretical outline of the method is presented, followed by experimental results and a discussion of future work
Keywords :
active vision; automatic optical inspection; dynamics; feature extraction; industrial robots; planning (artificial intelligence); robot vision; camera viewpoints; feature detectability; field-of-view; focus; inspection; machine vision planning; resolution; robot work-cell; visibility; Cameras; Computer vision; Inspection; Intelligent robots; Optical sensors; Robot sensing systems; Robot vision systems; Robotic assembly; Robotics and automation; Sensor systems;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506161
