Manipulator control by calibration-free stereo vision

Karl Vollmann; Minh-Chinh Nguyen

doi:10.1117/12.256278

29 October 1996 Manipulator control by calibration-free stereo vision

Karl Vollmann, Minh-Chinh Nguyen

Proceedings Volume 2904, Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling; (1996) https://doi.org/10.1117/12.256278
Event: Photonics East '96, 1996, Boston, MA, United States

Abstract

Based on the concept of object- and behavior-oriented stereo vision, a method is introduced which enables a robot manipulator to handle two distinct types of objects. It uses an uncalibrated stereo vision system and allows a direct transition from image coordinates to motion control commands of a robot. An object can be placed anywhere in the robot's 3D work space which is in the field of view of both cameras. The objects to be manipulated can either be of flat cylindrical or elongate shape. Results gained from real- world experiments are discussed.

Citation Download Citation

Karl Vollmann and Minh-Chinh Nguyen "Manipulator control by calibration-free stereo vision", Proc. SPIE 2904, Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling, (29 October 1996); https://doi.org/10.1117/12.256278

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