Title :
Using a knowledge base in manipulator control by calibration-free stereo vision
Author :
Xie, Qiang ; Graefe, Volker ; Vollmann, Karl
Author_Institution :
Inst. of Meas. Sci., Fed. Armed Forces Univ. Munich, Neubiberg, Germany
Abstract :
A 4 dimensional knowledge base that may be used as the long term memory for object manipulation by a completely uncalibrated vision guided robot is introduced. It is constructed automatically by the robot during its normal operation and adapts itself to changing conditions. Thus, the system presents self learning characteristics. The knowledge base has been successfully tested in real world experiments involving the grasping of objects
Keywords :
intelligent control; knowledge based systems; manipulators; robot vision; stereo image processing; 4 dimensional knowledge base; calibration free stereo vision; changing conditions; knowledge base; long term memory; manipulator control; object grasping; object manipulation; real world experiments; self learning characteristics; uncalibrated vision guided robot; Automatic control; Calibration; Cameras; Machine vision; Manipulators; Orbital robotics; Robot vision systems; Robotics and automation; Robustness; Stereo vision; Testing;
Conference_Titel :
Intelligent Processing Systems, 1997. ICIPS '97. 1997 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-4253-4
DOI :
10.1109/ICIPS.1997.669209
