Computer Vision and Kinematic Sensing in Robotics
(2001) In MSc ThesesDepartment of Automatic Control
- Abstract
- To use vision in a robotic setting it is important to achieve realtime performance. Real-time vision may be used to directly steer robots using for instance visual servoing techniques. In this thesis, an experimental vision setup using a stereo rig mounted on an industrial robot (ABB Irb-6) was built from ground up and then used to perform two experiments; visual servoing and collection of data for calibration of stereo rig and positioning of second robot (ABB Irb-2000) using visual feedback. The system is currently capable of achieving a ~15Hz visual feedback rate which could be easily extended into the 20Hz domain.
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/8848262
- author
- Mendonca, Duarte and Conde Bento, Luis
- supervisor
- organization
- year
- 2001
- type
- H3 - Professional qualifications (4 Years - )
- subject
- publication/series
- MSc Theses
- report number
- TFRT-5670
- ISSN
- 0280-5316
- language
- English
- id
- 8848262
- date added to LUP
- 2016-03-20 11:15:52
- date last changed
- 2016-03-20 11:15:52
@misc{8848262, abstract = {{To use vision in a robotic setting it is important to achieve realtime performance. Real-time vision may be used to directly steer robots using for instance visual servoing techniques. In this thesis, an experimental vision setup using a stereo rig mounted on an industrial robot (ABB Irb-6) was built from ground up and then used to perform two experiments; visual servoing and collection of data for calibration of stereo rig and positioning of second robot (ABB Irb-2000) using visual feedback. The system is currently capable of achieving a ~15Hz visual feedback rate which could be easily extended into the 20Hz domain.}}, author = {{Mendonca, Duarte and Conde Bento, Luis}}, issn = {{0280-5316}}, language = {{eng}}, note = {{Student Paper}}, series = {{MSc Theses}}, title = {{Computer Vision and Kinematic Sensing in Robotics}}, year = {{2001}}, }