TY - JOUR
T1 - Robotic exploration under the controlled active vision framework
AU - Smith, Christopher E.
AU - Brandt, Scott A.
AU - Papanikolopoulos, Nikolaos
PY - 1994
Y1 - 1994
N2 - Robust techniques are presented for the derivation of depth from feature points on a target's surface and for the accurate and high-speed tracking of moving targets. These techniques are incorporated into 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 and robustly determine parameters essential for performing higher level tasks such as inspection, exploration, tracking, grasping and collision-free motion planning. The system was implemented on the Minnesota Robotic Visual Tracker, a visual sensor mounted on the end-effector of a robotic manipulator combined with a real-time vision system.
AB - Robust techniques are presented for the derivation of depth from feature points on a target's surface and for the accurate and high-speed tracking of moving targets. These techniques are incorporated into 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 and robustly determine parameters essential for performing higher level tasks such as inspection, exploration, tracking, grasping and collision-free motion planning. The system was implemented on the Minnesota Robotic Visual Tracker, a visual sensor mounted on the end-effector of a robotic manipulator combined with a real-time vision system.
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M3 - Conference article
AN - SCOPUS:0028758770
SN - 0191-2216
VL - 4
SP - 3796
EP - 3801
JO - Proceedings of the IEEE Conference on Decision and Control
JF - Proceedings of the IEEE Conference on Decision and Control
T2 - Proceedings of the 33rd IEEE Conference on Decision and Control. Part 1 (of 4)
Y2 - 14 December 1994 through 16 December 1994
ER -