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3D Vision Guided Robotic Charging Station for Electric and Plug-in Hybrid Vehicles [article]

Justinas Miseikis and Matthias Ruther and Bernhard Walzel and Mario Hirz and Helmut Brunner
2017 arXiv   pre-print
First of all, the whole system concept consisting of a 3D vision system, an UR10 robot and a charging station is presented.  ...  The same approach is used to calibrate the camera-robot system by using just known structure of the connector plug and no additional markers.  ...  The eye-to-hand calibration estimates the transformation between the vision sensor and the robot base.  ... 
arXiv:1703.05381v1 fatcat:akaiamidafhfrbareiv7vxcpmy

Hand-eye calibration of EOD robot by Solving the AXB = YCZD Problem

Jianfeng Jiang, Xiao Luo, Shijie Xu, Qingsheng Luo, Minghao Li
2021 IEEE Access  
Li, “Hand-eye calibration algorithm for robot based [2] I. Ali, O. Suominen, A. Gotchev, and E. R.  ...  In addition, we propose a hand-eye calibration method based on the reprojection error of the RGB-D camera.  ... 
doi:10.1109/access.2021.3136850 fatcat:jvm3r6z2prf6pb66s6e35hq2ge

Hand–Eye Calibration Applied to Viewpoint Selection for Robotic Vision

Y. Motai, A. Kosaka
2008 IEEE transactions on industrial electronics (1982. Print)  
This paper presents a new approach to hand-eye robotic calibration for vision-based object modeling and grasping.  ...  To attain this accuracy, our new formalism of hand-eye calibration deals with a lens distortion model of a vision sensor.  ...  CONCLUSION This paper presented a new method of hand-eye robotic calibration for vision-based object modeling and grasping.  ... 
doi:10.1109/tie.2008.921255 fatcat:5caafpfepvhjpgnanmqrmcabiy

Low cost robot arm with visual guided positioning

Petra Durovic, Ratko Grbic, Robert Cupec, Damir Filko
2017 2017 40th International Convention on Information and Communication Technology, Electronics and Microelectronics (MIPRO)  
The proposed system performs automatic handeye calibration and, after the calibration, positions its end effector above the object of interest using visual servoing based on off the shelf marker tracker  ...  Low cost robotic solutions are of great importance for improvement and development of robotics. In this paper, two visually guided low cost robot arms are proposed.  ...  ACKNOWLEDGMENT This work has been fully supported by the Croatian Science Foundation under the project number IP-2014-09-3155.  ... 
doi:10.23919/mipro.2017.7973592 dblp:conf/mipro/DurovicGCF17 fatcat:zsu54fen2ffzvmmdlf4ee5kide

3D stereo estimation and fully automated learning of eye-hand coordination in humanoid robots

S. R. Fanello, U. Pattacini, I. Gori, V. Tikhanoff, M. Randazzo, A. Roncone, F. Odone, G. Metta
2014 2014 IEEE-RAS International Conference on Humanoid Robots  
We first show how to implement a complete 3D stereo vision pipeline, enabling online and real-time eye calibration. We then introduce a new formulation for the problem of eye-hand coordination.  ...  This paper deals with the problem of 3D stereo estimation and eye-hand calibration in humanoid robots.  ...  We proposed a fully automated procedure to calibrate the eye-hand coordination based on the stereo vision system of the iCub robot.  ... 
doi:10.1109/humanoids.2014.7041491 dblp:conf/humanoids/FanelloPGTRROM14 fatcat:erigm6zj4fgjtmdjpchdlpkhom

Significance of Camera Pixel Error in the Calibration Process of a Robotic Vision System

Mohammad Farhan Khan, Elham M. A. Dannoun, Muaffaq M. Nofal, M. Mursaleen
2022 Applied Sciences  
Further investigations suggest that inducing errors in image calibration patterns can have an adverse effect on the handeye calibration process compared to the angular errors in the robot joints.  ...  In this paper, a possible source of practical and inherent measurement uncertainties involved in the calibration process of a robotic vision system are discussed.  ...  Guan from University of Central Lancashire (Burnley campus, UK) for providing data for analysing error sensitivity of KUKA robot. Authors also like to thank G. Hall, D. Ceglarek, B.  ... 
doi:10.3390/app12136406 fatcat:trnu23qlkzalzh7zvldvyevc2a

Visual servoing for low-cost SCARA robots using an RGB-D camera as the only sensor

P. Ðurović, R. Grbić, R. Cupec
2017 Automatika  
Visual servoing with a simple, two-step hand-eye calibration for robot arms in Selective Compliance Assembly Robot Arm configuration, along with the method for simple vision-based grasp planning, is proposed  ...  The calibration is based on identification of the dominant horizontal plane in the camera field of view, and an assumption that all robot axes are perpendicular to the identified plane.  ...  The reviewed research is from the fields of low-cost robots, hand-eye calibration, visual servoing and vision-based grasp planning.  ... 
doi:10.1080/00051144.2018.1461771 fatcat:kxzr7tu6xje3fivunncz5bgqaq

Path Planning Optimization and Object Placement Through Visual Servoing Technique for Robotics Application

Sumitkumar Patel, Dippal Israni, Parth Shah
2020 Journal of Automation, Mobile Robotics & Intelligent Systems  
Visual servoing define a new methodology for vision based control in robotics. Vision based action involve number of actions that move a robot in response of results of camera analysis.  ...  The main purpose of visual servoing consists of considering a vision system by specific sensor dedicated to involve control servo loop and task.  ...  Visual area is categorized in two types such as "Eye-to-hand" and "Eye-in-hand". In Eye-to-hand eye is mounted on the robot arm and not allowed to pose any kind of motion.  ... 
doi:10.14313/jamris/1-2020/5 fatcat:bpbk42kqq5cdhc6azx4o2b3xz4

Online eye-robot self-calibration

Arnaud Tanguy, Abderrahmane Kheddar, Andrew I. Comport
2018 2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)  
We present a new approach that extends the well known Eye-Hand calibration to the online whole-body calibration of the kinematic tree geometric parameters.  ...  From this, we propose a novel Eye-Robot calibration method that determines the geometric transformations between joints.  ...  Hand-Eye calibration Hand-Eye calibration was first described in [12] , and has since become a standard tool for extrinsic calibration of vision sensors.  ... 
doi:10.1109/simpar.2018.8376273 dblp:conf/simpar/TanguyKC18 fatcat:k6hedpc3ive7dlu3j6blorca3m

Stereo Vision-Based Object Recognition and Manipulation by Regions with Convolutional Neural Network

Du, Muslikhin, Hsieh, Wang
2020 Electronics  
The eye-to-hand calibration is based on ANFIS to reduce computing burden.  ...  A six-degree-of-freedom (6-DOF) robot arm with a gripper will conduct experiments to demonstrate the effectiveness of the proposed system.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/electronics9020210 fatcat:czwvqytq2zabrlkvsdsrtxhxme

Visual Guided Approach-to-Grasp for Humanoid Robots [chapter]

Yang Shen, De Xu, Min Tan, Ze-Min Jiang
2007 Humanoid Robots, Human-like Machines  
The advantages of both eye-to-hand and eye-in-hand systems are fully exploited in this visual control strategy.  ...  A motion based method for head-eye calibration is proposed.  ...  In the second part diverse results around the biped motion of humanoid robots are presented.  ... 
doi:10.5772/4817 fatcat:zmgx3bxodnamrovikfqex3ssce

A new technique for fully autonomous and efficient 3D robotics hand/eye calibration

R.Y. Tsai, R.K. Lenz
1989 IEEE Transactions on Robotics and Automation  
This is part of a trio for real-time 3D robotics eye, eye-to-hand, and hand calibrations, which use a common setup and calibration object, common coordinate systems, matrices, vectors, symbols, and operations  ...  vision based technique in terms of linear accuracy.  ...  To obtain the 3D position and orientation of an object relative to the robot world base, it is necessary to perform three calibrations; namely, robot hand, eye-to-hand, and eye (camera) calibration.  ... 
doi:10.1109/70.34770 fatcat:ri3ozsfanbd33ftjwc4c6n4j4y

Transferring Visuomotor Learning from Simulation to the Real World for Robotics Manipulation Tasks

Phuong D.H. Nguyen, Tobias Fischer, Hyung Jin Chang, Ugo Pattacini, Giorgio Metta, Yiannis Demiris
2018 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
We would like to thank Alessandro Roncone for the initial figure of the simplified iCub's head-eyes joints.  ...  Nguyen was supported by a Marie Curie Early Stage Researcher Fellowship (H2020-MSCA-ITA, SECURE 642667).  ...  We show that this ensures coordinated control of eye movement with hand movement on the physical robot.  ... 
doi:10.1109/iros.2018.8594519 dblp:conf/iros/Nguyen0CPMD18 fatcat:t743kbfmvrdsvozf2oyba6vhei

CHESS—Calibrating the Hand-Eye Matrix With Screw Constraints and Synchronization

Krittin Pachtrachai, Francisco Vasconcelos, George Dwyer, Vijay Pawar, Stephen Hailes, Danail Stoyanov
2018 IEEE Robotics and Automation Letters  
Hand-eye calibration is a classic problem in robotics that aims to find the transformation between two rigidly attached reference frames, usually a camera and a robot end-effector or a motion tracker.  ...  Most hand-eye calibration techniques require two data streams, one containing the eye (camera) motion and the other containing the hand (robot/tracker) motion, and the classic hand-eye formulation assumes  ...  A 1 = cam T grid (τ )( cam T grid (τ )) −1 B 1 = robot T base (τ )( robot T base (τ )) −1 A 2 = cam T grid (τ )( cam T grid (τ )) −1 B 2 = robot T base (τ )( robot T base (τ )) −1 (2) where τ, τ and τ  ... 
doi:10.1109/lra.2018.2800088 dblp:journals/ral/PachtrachaiVDPH18 fatcat:5fskigfyv5enrp6hkzom3jps7a

Intuitive Human-Robot Interaction Through Active 3D Gaze Tracking [chapter]

Rowel Atienza, Alexander Zelinsky
2005 Springer Tracts in Advanced Robotics  
A robot arm responds by picking up this object and handing it over to the person.  ...  It is done through an active vision system that is able to understand the focus of attention of a user.  ...  The system works by tracking stable facial features such as eye and lip corners. Based on the location of the iris, eye-gaze is determined.  ... 
doi:10.1007/11008941_19 fatcat:mmcu5rzqkjdqdilfbifcrafh44
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