3,487 research outputs found
On the Issue of Camera Calibration with Narrow Angular Field of View
This paper considers the issue of calibrating a
camera with narrow angular field of view using standard, perspective
methods in computer vision. In doing so, the significance
of perspective distortion both for camera calibration and for
pose estimation is revealed. Since narrow angular field of view
cameras make it difficult to obtain rich images in terms of perspectivity,
the accuracy of the calibration results is expectedly low.
From this, we propose an alternative method that compensates for
this loss by utilizing the pose readings of a robotic manipulator.
It facilitates accurate pose estimation by nonlinear optimization,
minimizing reprojection errors and errors in the manipulator
transformations at the same time. Accurate pose estimation in
turn enables accurate parametrization of a perspective camera
Evaluation of automated decisionmaking methodologies and development of an integrated robotic system simulation
A generic computer simulation for manipulator systems (ROBSIM) was implemented and the specific technologies necessary to increase the role of automation in various missions were developed. The specific items developed are: (1) capability for definition of a manipulator system consisting of multiple arms, load objects, and an environment; (2) capability for kinematic analysis, requirements analysis, and response simulation of manipulator motion; (3) postprocessing options such as graphic replay of simulated motion and manipulator parameter plotting; (4) investigation and simulation of various control methods including manual force/torque and active compliances control; (5) evaluation and implementation of three obstacle avoidance methods; (6) video simulation and edge detection; and (7) software simulation validation
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