TY - GEN
T1 - Online multi-camera registration for bimanual workspace trajectories
AU - Dantam, Neil T.
AU - Ben Amor, Heni
AU - Christensen, Henrik I.
AU - Stilman, Mike
PY - 2015/2/12
Y1 - 2015/2/12
N2 - We demonstrate that millimeter-level bimanual manipulation accuracy can be achieved without the static camera registration typically required for visual servoing. We register multiple cameras online, converging in seconds, by visually tracking features on the robot hands and filtering the result. Then, we compute and track continuous-velocity relative workspace trajectories for the end-effector. We demonstrate the approach using Schunk LWA4 and SDH manipulators and Logitech C920 cameras, showing accurate relative positioning for pen-capping and object hand-off tasks. Our filtering software is available under a permissive license.1
AB - We demonstrate that millimeter-level bimanual manipulation accuracy can be achieved without the static camera registration typically required for visual servoing. We register multiple cameras online, converging in seconds, by visually tracking features on the robot hands and filtering the result. Then, we compute and track continuous-velocity relative workspace trajectories for the end-effector. We demonstrate the approach using Schunk LWA4 and SDH manipulators and Logitech C920 cameras, showing accurate relative positioning for pen-capping and object hand-off tasks. Our filtering software is available under a permissive license.1
UR - http://www.scopus.com/inward/record.url?scp=84945182762&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84945182762&partnerID=8YFLogxK
U2 - 10.1109/HUMANOIDS.2014.7041422
DO - 10.1109/HUMANOIDS.2014.7041422
M3 - Conference contribution
AN - SCOPUS:84945182762
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 588
EP - 593
BT - 2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
PB - IEEE Computer Society
T2 - 2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
Y2 - 18 November 2014 through 20 November 2014
ER -