Robotic vision has become a very popular field in recent years due to the numerous promising applications it may enhance. However, errors within the cameras and in their perception of their environment can cause appli...
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ISBN:
(纸本)9806560477
Robotic vision has become a very popular field in recent years due to the numerous promising applications it may enhance. However, errors within the cameras and in their perception of their environment can cause applications in robotics to fail. To help correct these internal and external imperfections, stereo camera calibrations are performed. There are currently many accurate methods of camera calibration available;however, most or all of them are time consuming and labor intensive. This research seeks to automate the most labor intensive aspects of a popular calibration technique developed by Jean-Yves Bouguet. His process requires manual selection of the extreme comers of a checkerboard pattern. The modified process uses embedded LEDs in the checkerboard pattern to act as active fiducials. Images are captured of the checkerboard with the LEDs on and off in rapid succession. The difference of the two images automatically highlights the location of the four extreme comers, and these comer locations take tire place of the manual selections. With this modification to the calibration routine, upwards of eighty mouse clicks are eliminated per stereo calibration. Preliminary test results indicate that accuracy is not substantially affected by the modified procedure. Improved automation to camera calibration procedures may finally penetrate the barriers to the use of calibration in practice.
The proceedings contain 136 papers from the Proceedings of the 2005 IEEE/ASME internationalconference on Advanced Intelligent Mechantronics, AIM 2005 - Volume II. The topics discussed include: space applications;dyna...
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The proceedings contain 136 papers from the Proceedings of the 2005 IEEE/ASME internationalconference on Advanced Intelligent Mechantronics, AIM 2005 - Volume II. The topics discussed include: space applications;dynamics analysis of a cable-driven parallel manipulator for hardware-in-The-Loop Dynamic Simulation (I);time-optimal nonlinear feedback control for the NPSAT1 Spacecraft (I);robustness of power grasp with humanskin characteristics;a hybrid system approach to kinematic modeling of multifingered hand's finger gaits;parametric optimal design of a Pinion-Rack based continuously variable transmission;and optimal path planning for planetary exploration rovers based on artificial vision system for environmental reconstruction.
A novel direct-drive planar parallel manipulator for high-speed and high-precision semiconductor packaging systems is presented. High precision kinematics design, significant redaction on moving mass and driving power...
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Magnetic nanoparticles have potential utility in a variety of applications ranging from ferrofluids to highly sensitive transduction mechanisms for monitoring and controlling biological activities at the molecular lev...
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Complete automation of trajectory planning tools for material deposition/removal applications has become increasingly necessary to reduce the “concept-to-consumer” timeline in product development. Segmentation of a ...
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Complete automation of trajectory planning tools for material deposition/removal applications has become increasingly necessary to reduce the “concept-to-consumer” timeline in product development. Segmentation of a complex automotive surfaces into topologically simple surfaces remains a barrier in the automation of trajectory generation. In this paper, we develop a novel hierarchical procedure to segment a complex automotive surface into geometrically as well as topologically simple components.
We present an agent-based framework for the development of distributed applications for a team of heterogenous mobile robots. The main goal is to ease the development of cooperative tasks among teams of robots. The pr...
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We present an agent-based framework for the development of distributed applications for a team of heterogenous mobile robots. The main goal is to ease the development of cooperative tasks among teams of robots. The proposed architecture must have not only the capacity to allow the team of robots to accomplish such tasks, but also it must have tools and features that allow programmers to develop complex applications in a reasonable time. Agent-based development platforms are used for this purpose, integrating the necessary capabilities for developing distributed applications, and managing the communications among all the components. To demonstrate the advantages of the proposed framework, two real applications, remote vision and robot following, are presented. Both of them consist of a set of agents, and run actually in real robot systems, demonstrating that distributed systems do not add significant overhead to real-time tasks.
We present a new sampling-based algorithm for iteratively locating Voronoi vertices of a point set in the unit cube I d = [0, 1] d . The algorithm takes an input sample and executes a series of transformations, each o...
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We present a new sampling-based algorithm for iteratively locating Voronoi vertices of a point set in the unit cube I d = [0, 1] d . The algorithm takes an input sample and executes a series of transformations, each of which projects the sample to a new face of the Voronoi cell in which it is located. After d such transformations, the sample has been transformed into a Voronoi vertex. Locating Voronoi vertices has many potential applications for motion planning, such as estimating dispersion for coverage and verification applications, and providing information useful for Voronoi-biased or multiple-tree planning. We prove theoretical results regarding our algorithm, and give experimental results comparing it to naive sampling for the problem of dispersion estimation.
作者：
Pardos, Jose M.Balaguer, CarlosRobotics Lab
Department of Systems Engineering and Automation University Carlos III of Madrid C/ Ribera del Loira 60 28042 Mad Spain Robotics Lab
Department of Systems Engineering and Automation University Carlos III of Madrid C/ Butarque 15 Leganés 28911 Madrid Spain
The humanoid bipedal locomotion requires computationally efficient solutions of the navigation and inverse kinematics problems. This paper presents analytic methods, using tools from computational geometry and techniq...
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A distributed real– time robot application framework is developed, to improve the scalability and reusability of software modules. The design is based on real– time CORBA and structured into two layers: the infrastr...
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A distributed real– time robot application framework is developed, to improve the scalability and reusability of software modules. The design is based on real– time CORBA and structured into two layers: the infrastructure layer for basic functionality and the service layer, which includes several reusable services. The implementation of the framework is evaluated from functionality and performance perspectives to demonstrate the feasibility of the design. The required functionality is achieved and performance tests show that the real– time aspect gives dramatic improvements in the performance of high priority tasks under load.
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