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Conference Paper: Position and motion estimation for visual robot control with planar targets

TitlePosition and motion estimation for visual robot control with planar targets
Authors
KeywordsA-plane
Apriori
Degrees of freedom
Effects of rotation
Image points
Issue Date2009
PublisherIEEE.
Citation
The 7th Asian Control Conference (ASCC 2009), Hong Kong, China, 27-29 August 2009. In Proceedings of the Asian Control Conference, 2009, p. 372-377 How to Cite?
AbstractThis paper addresses two problems in visually-controlled robots. The first consists of positioning the end-effector of a robot manipulator on a plane of interest by using a monocular vision system. The problem amounts to estimating the transformation between the coordinates of an image point and its three-dimensional location supposing that only the camera intrinsic parameters are known. The second problem consists of positioning the robot end-effector with respect to an object of interest free to move on a plane, and amounts to estimating the camera displacement in a stereo vision system in the presence of motion constraints. For these problems, some solutions are proposed through dedicated optimizations based on decoupling the effects of rotation and translation and based on an a-priori imposition of the degrees of freedom of the system. These solutions are illustrated via simulations and experiments. ©2009 ACA.
Persistent Identifierhttp://hdl.handle.net/10722/126140
ISBN
References

 

DC FieldValueLanguage
dc.contributor.authorYung, HLen_HK
dc.contributor.authorChesi, Gen_HK
dc.contributor.authorHung, YSen_HK
dc.date.accessioned2010-10-31T12:11:57Z-
dc.date.available2010-10-31T12:11:57Z-
dc.date.issued2009en_HK
dc.identifier.citationThe 7th Asian Control Conference (ASCC 2009), Hong Kong, China, 27-29 August 2009. In Proceedings of the Asian Control Conference, 2009, p. 372-377en_HK
dc.identifier.isbn978-89-956056-9-1-
dc.identifier.urihttp://hdl.handle.net/10722/126140-
dc.description.abstractThis paper addresses two problems in visually-controlled robots. The first consists of positioning the end-effector of a robot manipulator on a plane of interest by using a monocular vision system. The problem amounts to estimating the transformation between the coordinates of an image point and its three-dimensional location supposing that only the camera intrinsic parameters are known. The second problem consists of positioning the robot end-effector with respect to an object of interest free to move on a plane, and amounts to estimating the camera displacement in a stereo vision system in the presence of motion constraints. For these problems, some solutions are proposed through dedicated optimizations based on decoupling the effects of rotation and translation and based on an a-priori imposition of the degrees of freedom of the system. These solutions are illustrated via simulations and experiments. ©2009 ACA.en_HK
dc.languageengen_HK
dc.publisherIEEE.-
dc.relation.ispartofProceedings of the Asian Control Conferenceen_HK
dc.rightsProceedings of the 7th Asian Control Conference. Copyright © IEEE.-
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.rights©2009 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.-
dc.subjectA-plane-
dc.subjectApriori-
dc.subjectDegrees of freedom-
dc.subjectEffects of rotation-
dc.subjectImage points-
dc.titlePosition and motion estimation for visual robot control with planar targetsen_HK
dc.typeConference_Paperen_HK
dc.identifier.openurlhttp://library.hku.hk:4550/resserv?sid=HKU:IR&issn=978-89-956056-9-1&volume=&spage=372&epage=377&date=2009&atitle=Position+and+motion+estimation+for+visual+robot+control+with+planar+targets-
dc.identifier.emailChesi, G:chesi@eee.hku.hken_HK
dc.identifier.emailHung, YS:yshung@eee.hku.hken_HK
dc.identifier.authorityChesi, G=rp00100en_HK
dc.identifier.authorityHung, YS=rp00220en_HK
dc.description.naturepublished_or_final_version-
dc.identifier.scopuseid_2-s2.0-71449126006en_HK
dc.identifier.hkuros175048en_HK
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-71449126006&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.spage372en_HK
dc.identifier.epage377en_HK
dc.description.otherThe 7th Asian Control Conference (ASCC 2009), Hong Kong, China, 27-29 August 2009. In Proceedings of the Asian Control Conference, 2009, p. 372-377-
dc.identifier.scopusauthoridYung, HL=35172434900en_HK
dc.identifier.scopusauthoridChesi, G=7006328614en_HK
dc.identifier.scopusauthoridHung, YS=8091656200en_HK

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