Name
Title | ||
|---|---|---|
Application of the controlled active vision framework to robotic and transportation problems |
Abstract | ||
|---|---|---|
Flexible operation of a robotic agent in an uncalibrated environ- ment requires the ability to recover unknown or partially known parameters of the workspace through sensing. Of the sensors available to a robotic agent, visual sensors provide information that is richer and more complete than other sensors. In this paper we present robust techniques for the derivation of depth from fea- ture points on a target's surface and for the accurate and high- speed tracking of moving targets. We use these techniques in a system that operates with little or no a priori knowledge of the object-related parameters present in the environment. The system is designed under the Controlled Active Vision framework (16) and robustly determines parameters such as velocity for tracking moving objects and depth maps of objects with unknown depths and surface structure. Such determination of intrinsic environ- mental parameters is essential for performing higher level tasks such as inspection, exploration, tracking, grasping, and colli- sion-free motion planning. For both applications, we use the Minnesota Robotic Visual Tracker (a single visual sensor mounted on the end-effector of a robotic manipulator combined with a real-time vision system) to automatically select feature points on surfaces, to derive an estimate of the environmental parameter in question, and to supply a control vector based upon these estimates to guide the manipulator. The paper concludes with applications of these techniques to transportation problems such as vehicle tracking. |
Year | DOI | Venue |
|---|---|---|
1994 | 10.1109/ACV.1994.341311 | Sarasota, FL |
Keywords | Field | DocType |
active vision,computer vision,inspection,path planning,robot vision,transportation,collision-free motion planning,controlled active vision framework,depth from feature points,inspection,intrinsic environmental parameters,robotic,transportation problems,uncalibrated environment,visual sensors | Motion planning,Computer vision,Active vision,Machine vision,Workspace,Computer science,Manipulator,Surface structure,A priori and a posteriori,Artificial intelligence,Vehicle tracking system | Conference |
Citations | PageRank | References |
1 | 0.57 | 13 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Christopher E. Smith | 1 | 34 | 3.81 |
| Papanikolopoulos, N.P. | 2 | 724 | 68.92 |
| Scott A. Brandt | 3 | 1663 | 94.81 |