Task Panel Sensing with a Movable Camera

William J. Wolfe; Donald W. Mathis; Michael Magee; William Hoff

doi:10.1117/12.969804

1 March 1990 Task Panel Sensing with a Movable Camera

William J. Wolfe, Donald W. Mathis, Michael Magee, William Hoff

Proceedings Volume 1193, Intelligent Robots and Computer Vision VIII: Systems and Applications; (1990) https://doi.org/10.1117/12.969804
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States

Abstract

This paper discusses the integration of model based computer vision with a robot planning system. The vision system deals with structured objects with several movable parts (the "Task Panel"). The robot planning system controls a T3-746 manipulator that has a gripper and a wrist mounted camera. There are two control functions: move the gripper into position for manipulating the panel fixtures (doors, latches, etc.), and move the camera into positions preferred by the vision system. This paper emphasizes the issues related to repositioning the camera for improved viewpoints.

Citation Download Citation

William J. Wolfe, Donald W. Mathis, Michael Magee, and William Hoff "Task Panel Sensing with a Movable Camera", Proc. SPIE 1193, Intelligent Robots and Computer Vision VIII: Systems and Applications, (1 March 1990); https://doi.org/10.1117/12.969804

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