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Computer Vision and Kinematic Sensing in Robotics

Mendonca, Duarte and Conde Bento, Luis (2001) In MSc Theses
Department 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.
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author
Mendonca, Duarte and Conde Bento, Luis
supervisor
organization
year
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},
}