Proceedings ArticleDOI
Model-based telerobotics with vision
John E. Lloyd,J.S. Beis,Dinesh K. Pai,David G. Lowe +3 more
- Vol. 2, pp 1297-1304
Reads0
Chats0
TLDR
An implemented model-based telerobotic system designed to investigate assembly and other tasks involving contact and manipulation of known objects and a task-centric operator interface is described, which includes performing assembly-like tasks over the Internet.Abstract:
We describe an implemented model-based telerobotic system designed to investigate assembly and other tasks involving contact and manipulation of known objects. Key features of our system include ease of maintaining a world model at the operator site and a task-centric operator interface. Our system incorporates gray-scale model-based vision to assist in building and maintaining the local model. The local model is used to provide a task-centric operator interface, emphasizing the natural and direct manipulation of objects, with the robot's presence indicated in a more abstract fashion. The operator interface is designed to work with widely available and inexpensive desktop computers with low DOF input devices (such as a mouse). We also describe experimental results to date, which include performing assembly-like tasks over the Internet.read more
Citations
More filters
Journal ArticleDOI
A multimodal interface to control a robot arm via the web: a case study on remote programming
TL;DR: The challenge has been to demonstrate that remote programming combined with an advanced multimedia user interface for remote control is very suitable, flexible, and profitable for the design of a telelaboratory.
Journal ArticleDOI
Estimating uncertainty in SSD-based feature tracking
Kevin Nickels,Seth Hutchinson +1 more
TL;DR: This paper derives quantitative measures for the spatial uncertainty of the results provided by SSD-based feature trackers by scale the SSD correlation surface, fit a Gaussian distribution to this surface, and use this distribution to estimate values for a covariance matrix.
Journal ArticleDOI
Physical Human Interactive Guidance: Identifying Grasping Principles From Human-Planned Grasps
TL;DR: Data from the physical human interactive guidance method showed that the human-planned grasping method provides grasps that are similar tograsps from a state-of-the-art automated grasp planner, but differed in one key aspect.
Journal ArticleDOI
Indexing without invariants in 3D object recognition
J.S. Beis,David G. Lowe +1 more
TL;DR: A method of indexing 3D objects from single 2D images that allows a richer set of shape information to be used in the recognition process and suggests the kd-tree as an alternative indexing data structure to the standard hash table.
Journal ArticleDOI
Real-time photorealistic virtualized reality interface for remote mobile robot control
Alonzo Kelly,Nicholas Chan,Herman Herman,Daniel Huber,Robert Meyers,Peter Rander,Randy Warner,Jason Ziglar,Erin Capstick +8 more
TL;DR: In this article, the authors demonstrate the conversion of dense geometry and appearance data, generated on-the-move by a mobile robot, into a photorealistic rendering model that gives the user a synthetic exterior line-of-sight view of the robot, including the context of its surrounding terrain.
References
More filters
Journal ArticleDOI
A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses
TL;DR: In this paper, a two-stage technique for 3D camera calibration using TV cameras and lenses is described, aimed at efficient computation of camera external position and orientation relative to object reference coordinate system as well as the effective focal length, radial lens distortion, and image scanning parameters.
Book
A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses
TL;DR: A new technique for three-dimensional camera calibration for machine vision metrology using off-the-shelf TV cameras and lenses using two-stage technique has advantage in terms of accuracy, speed, and versatility over existing state of the art.
Book
Virtual Reality
TL;DR: General Education Foundation COMMUNICATION 6 ENG-111 English Composition I ENG-112 English Com composition II MATH-SCIENCE-TECHNOLOGY** 7-9 Choose from General Education course list (Math/Science) Mathematics Elective (3/4 CR) Laboratory Science (4 CR), Technology (0-1 CR)* SOCIAL SCIENCE OR HUMANITIES 3 Choose from general education course list GENERAL EDUCATION COURSES.
Book
Telerobotics, Automation, and Human Supervisory Control
TL;DR: Theory and models of supervisory control of teleoperators for space, undersea, and other applications are discussed in this paper, where the social implications of telerobotics, automation, and super-visory control are discussed.
Journal ArticleDOI
Fitting parameterized three-dimensional models to images
TL;DR: Current methods of parameter solving are extended to handle objects with arbitrary curved surfaces and with any number of internal parameters representing articulation, variable dimensions, or surface deformations to allow model-based vision to be used for a much wider class of problems than was possible with previous methods.