Visual Control of Manipulator

My publication

• Active camera controlling for manipulation. IEEE Conference on Computer Vision and Pattern Recognition. (1991), pp. 413-418.
• Employing an active camera for eye-hand coordination in robot manipulation. Transactions of the Institute of Electronics, Information, and Communication Engineers, Vol. J77-D-II, No.2, 331-342, (1994).

Locating robot hand by zooming and focusing of camera

This work explores hand-eye coordination of robot by using a camera with functions of zooming and focusing. Under the guidance of the camera, a robot hand can arrive at an object to manipulate it in the 3D space. The hand movement is decomposed into the move parallel to the image plane and the move in depth, which are controlled from image position and focus value of the hand. The focal value is put on the destination object and the hand move in depth tries to increase the image sharpness of hand. The zooming, focusing, and 2D image position control cooperate with each other and work in feedback fashion. The fovea control of eye realized by zooming from wide-angle to tele-angle brings both flexibility and accuracy in locating hand position.

My publication

Guiding Robot Motion Using Zooming and Focusing. IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, pp. 1076-1082, (1996).

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Sensor-Based Mobile Robot Navigation

Environment measuring by a mobile robot: Using stereo video cameras, laser, ultrasound, and infrared sensors to measure an indoor space when a mobile robot autonomously moves across a structure.

My publications

• Stereo vision of a mobile robot: World Constraints for image matching and interpretation. IEEE International Conference on Robotics and Automation (1986), pp. 1591-1599.
• Visual Path Planning by a mobile robot. 10th International Joint Conference on Artificial Intelligence (1987). Vol.2. pp. 1127-1130.
• Successive environment perception using spatial matching by a mobile robot. Transactions of the Institute of Electronics, Information, and Communication Engineers, Vol.J71-D No.9 pp.1682-1692, (1988).

My publications

Color-based panoramic representation of outdoor environment for a mobile robot. 9th International Conference on Pattern Recognition (1988). Vol.2 pp.801-803.

Panoramic representation of scenes for route understanding. 10th International Conference on Pattern Recognition (1990), Vol.1, pp.161-167.

Qualitative route scene description using autonomous landmark detection. 3rd International Conference on Computer Vision, (1990), pp. 558-562.

Landmark detection for route recognition by a mobile robot. IEEE International Conference on Robotics and Automation (1991), Vol.3, pp. 2004-2009.

Detecting Dynamic Objects Passing through A Gate Using Line Sensor