Toward automatic robot programming: Learning human skill from visual data

作     者：Yeasin, M Chaudhuri, S 

作者机构：Indian Inst Technol Dept Elect Engn Bombay 400076 Maharashtra India 

出 版 物：《IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS》 (IEEE Trans Syst Man Cybern Part B Cybern)

年 卷 期：2000年第30卷第1期

页      面：180-185页

核心收录：

主　　题：binocular vision higher order statistics robot programming trajectory bundle vector spline 

摘      要：We propose a no,el approach to program a robot by demonstrating the task multiple number of times in front of a binocular vision system. We track artificially-induced features appearing in the image plane due to nonimpedimental color stickers attached at different fingertips and wrist joint, in a simultaneous feature detection and tracking framework. A Kalman filter does the tracking by recursively predicting the tentative feature location and a higher order statistics (HOS)-based data clustering algorithm extracts the feature. A fast and efficient algorithm for the vision system thus developed processes a binocular video sequence to obtain the trajectories and the orientation information of the end effector from the images of a human hand. Thf concept of trajectory bundle Is introduced to avoid singularities and to obtain an optimal path.