Author/Editor		Pozne, Anton jr; Bajec, Andrej; Kovačič, Stane; Pavešić, Nikola
Title		Uncalibrated robot vision system
Type		članek
Source		In: Pavešić N, Niemann H, Kovačič S, et al, editors. Speech and image understanding. Proceedings of 3rd Slovenian-German and 2nd SDRV workshop; 1996 Apr 24-26; Ljubljana. Ljubljana: IEEE Slovenia section,
Publication year		1996
Volume		str. 291-300
Language		eng
Abstract		Visual feedback control overcomes many of the difficulties concerning vision systems calibration and modeling. We present our experience in development of an active stereo vision system for robotics using static ("look and move") image-based visual feedback control. A low-cost robot manipulator can reach and grasp an object positioned anywhere in the robot's workspace, provided it is within the stereo cameras field of view. The problem of spatial reaching and grasping is solved by "covering markers". The vision system and the robot operate in a closed loop without hand-eye calibration.
Descriptors		ROBOTICS IMAGE PROCESSING, COMPUTER-ASSISTED CALIBRATION