DocumentCode :
2330760
Title :
Computation of shape through controlled active exploration
Author :
Smith, Christopher E. ; Papanikolopoulos, Nikolaos P.
Author_Institution :
Dept. of Comput. Sci., Minnesota Univ., Minneapolis, MN, USA
fYear :
1994
fDate :
8-13 May 1994
Firstpage :
2516
Abstract :
Accurate knowledge of depth continues to be of critical importance in robotic systems. Without accurate depth knowledge, tasks such as inspection, tracking, grasping, and collision-free motion planning prove to be difficult and often unattainable. Traditional visual depth recovery has relied upon techniques that require the solution of the correspondence problem or require known lighting conditions and Lambertian surfaces. In this paper, we present a technique for the derivation of depth from feature points on a target´s surface using the controlled active vision framework. We use a single visual sensor mounted on the end-effector of a robotic manipulator to automatically select feature points and to derive depth estimates for those features using adaptive control techniques. Movements of the manipulator produce displacements that are measured using a sum-of-squared difference (SSD) optical flow. The measured displacements are fed into the controller to alter the path of the manipulator and to refine the depth estimate
Keywords :
computer vision; feature extraction; image reconstruction; robots; active vision; collision-free motion planning; controlled active exploration; depth estimate; depth from feature points; depth recovery; feature point selection; robot; shape analysis; sum-of-squared difference optical flow; visual depth recovery; Automatic control; Displacement measurement; Inspection; Manipulators; Motion planning; Robot sensing systems; Robotics and automation; Sensor phenomena and characterization; Shape control; Tracking;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
Type :
conf
DOI :
10.1109/ROBOT.1994.351133
Filename :
351133
Link To Document :
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