Learning, positioning, and tracking visual appearance
- 17 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 3237-3244 vol.4
- https://doi.org/10.1109/robot.1994.351072
Abstract
The problem of vision-based robot positioning and tracking is addressed. A general learning algorithm is presented for determining the mapping between robot position and object appearance. The robot is first moved through several displacements with respect to its desired position, and a large set of object images is acquired. This image set is compressed using principal component analysis to obtain a four-dimensional subspace. Variations in object images due to robot displacements are represented as a compact parametrized manifold in the subspace. While positioning or tracking, errors in end-effector coordinates are efficiently computed from a single brightness image using the parametric manifold representation. The learning component enables accurate visual control without any prior hand-eye calibration. Several experiments have been conducted to demonstrate the practical feasibility of the proposed positioning/tracking approach and its relevance to industrial applications.<>Keywords
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