Using Distributed Sensing and Sensor Fusion for Uncalibrated Visual Manipulator Guidance

• Autores: Christian Scheering, Bernd Kersting
• Localización: Distributed Autonomous Robotic Systems 3 / coord. por Tim Lueth, Rudiger Dillmann, Paolo Dario, Heinz Wörn, 1998, ISBN 9783642721984, págs. 267-276
• Idioma: inglés
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• Resumen

  • We describe a method for 3D visual manipulator control using a redundant camera system without explicit external or internal calibration. Under the assumption of a simple linear camera model, a fusion equation is derived for which only three parameters have to be estimated, regardless of the number of cameras. Distributed sensor-units provide the necessary measurements, which are fused together in a Kalman filter. In simulations, as well as in real experiments, the feasibility of our approach for a 3D positioning task of a six degree of freedom (DOF) Puma 200 to a target is demonstrated. It is shown that using redundant views increases positioning accuracy and fault tolerance. The achieved accuracy is sufficient to perform an insertion task.