Online multi-camera registration for bimanual workspace trajectories

Neil T. Dantam, Heni Ben Amor, Henrik I. Christensen, Mike Stilman

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

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

Original languageEnglish (US)
Title of host publication2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
PublisherIEEE Computer Society
Pages588-593
Number of pages6
ISBN (Electronic)9781479971749
DOIs
StatePublished - Feb 12 2015
Event2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain
Duration: Nov 18 2014Nov 20 2014

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
Volume2015-February
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Other

Other2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
CountrySpain
CityMadrid
Period11/18/1411/20/14

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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  • Cite this

    Dantam, N. T., Ben Amor, H., Christensen, H. I., & Stilman, M. (2015). Online multi-camera registration for bimanual workspace trajectories. In 2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 (pp. 588-593). [7041422] (IEEE-RAS International Conference on Humanoid Robots; Vol. 2015-February). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2014.7041422