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I. J. Mulligan, Alan K. Mackworth, and P. D. Lawrence. A Model-Based Vision System for Manipulator Position Sensing. In Proceedings of the IEEE Workshop on Interpretations of 3D Scenes, pp. 186–196, Austin, TX, 1988.
The task and design requirements for a vision system for manipulator position sensing in a telerobotic system are described. Model-based analysis-by-synthesis techniques offer generally applicable methods with the potential to meet the system's requirement for accurate, fast and reliable results. Edge-based chamfer matching al lows efficient computation of a measure, E, of the local difference between the real image and a synthetic image generated from arm and camera models. Gradient descent techniques are used to minimise E by adjusting joint angles. The dependence of each link position on the position of the link preceding it al lows the search to be broken down into lower dimensional problems. Intensive exploitation of geometric constraints on the possible position and orientation ofmanipulator components results in a correct and efficient solution to the problem. Experimental results demonstrate the use of the implemented prototype system to locate the boom, stick and bucket of an excavator, given a single video image.
@InProceedings{IEEE-I3dS88,
author = {I. J. Mulligan and Alan K. Mackworth and P. D. Lawrence},
title = {A Model-Based Vision System for Manipulator Position Sensing},
year = {1988},
booktitle = {Proceedings of the IEEE Workshop on Interpretations of 3D Scenes},
address = {Austin, TX}
pages = {186--196},
abstract = { The task and design requirements for a vision system for manipulator position sensing in a telerobotic
system are described. Model-based analysis-by-synthesis techniques offer generally applicable methods with
the potential to meet the system's requirement for accurate, fast and reliable results. Edge-based chamfer
matching al lows efficient computation of a measure, E, of the local difference between the real image and a
synthetic image generated from arm and camera models. Gradient descent techniques are used to minimise
E by adjusting joint angles. The dependence of each link position on the position of the link preceding it
al lows the search to be broken down into lower dimensional problems. Intensive exploitation of geometric
constraints on the possible position and orientation ofmanipulator components results in a correct and efficient solution to the problem. Experimental results demonstrate the use of the implemented prototype system to locate the boom, stick and bucket of an excavator, given a single video image.},
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}
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