DocumentCode
313189
Title
Control of a rigid robot using an uncalibrated stereo vision system
Author
Chang, Wen-Chung ; Morse, A.S.
Author_Institution
Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
Volume
3
fYear
1997
fDate
4-6 Jun 1997
Firstpage
2103
Abstract
A supervisor of the estimator-based type together with a certainty equivalence control is proposed for controlling the position of a rigid robot in a prescribed workspace using data observed by two uncalibrated video cameras. By exploiting a well known algebraic relationship from the computer vision field (the epipolar constraint), the supervisor is able to falsify or eliminate over time, unpromising candidate camera models
Keywords
matrix algebra; position control; robot dynamics; robot vision; stereo image processing; coefficient matrix; computer vision; epipolar constraint; position control; rigid robot; stereo vision system; supervisory control; uncalibrated video cameras; Cameras; Computer vision; Control systems; Jacobian matrices; Linear systems; Orbital robotics; Robot kinematics; Robot vision systems; Stereo vision; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1997. Proceedings of the 1997
Conference_Location
Albuquerque, NM
ISSN
0743-1619
Print_ISBN
0-7803-3832-4
Type
conf
DOI
10.1109/ACC.1997.611061
Filename
611061
Link To Document