Online camera registration for robot manipulation

Neil Dantam, Hani Ben Amor, Henrik Christensen, Mike Stilman

Research output: Chapter in Book/Report/Conference proceedingChapter

1 Scopus citations

Abstract

We demonstrate that millimeter-level manipulation accuracy can be achieved without the static camera registration typically required for visual servoing. We register the camera online, converging in seconds, by visually tracking features on the robot and filtering the result. This online registration handles cases such as perturbed camera positions, wear and tear on camera mounts, and even a camera held by a human. We implement the approach on a Schunk LWA4 manipulator and Logitech C920 camera, servoing to target and pre-grasp configurations. Our filtering software is available under a permissive license (Software available at http://github.com/golems/reflex).

Original languageEnglish (US)
Title of host publicationSpringer Tracts in Advanced Robotics
PublisherSpringer Verlag
Pages179-194
Number of pages16
Volume109
DOIs
StatePublished - 2016
Externally publishedYes

Publication series

NameSpringer Tracts in Advanced Robotics
Volume109
ISSN (Print)16107438
ISSN (Electronic)1610742X

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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  • Cite this

    Dantam, N., Ben Amor, H., Christensen, H., & Stilman, M. (2016). Online camera registration for robot manipulation. In Springer Tracts in Advanced Robotics (Vol. 109, pp. 179-194). (Springer Tracts in Advanced Robotics; Vol. 109). Springer Verlag. https://doi.org/10.1007/978-3-319-23778-7_13