Manipulator control by calibration-free stereo vision
K. Vollmann, Minh-Chinh Nguyen · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1996
Based on the concept of object- and behavior-oriented stereo vision, a method is introduced which enables a robot manipulator to handle two distinct types of objects. It uses an uncalibrated stereo vision system and allows a direct transition from image coordinates to motion control commands of a robot. An object can be placed anywhere in the robot's 3D work space which is in the field of view of both cameras. The objects to be manipulated can either be of flat cylindrical or elongate shape. Results gained from real- world experiments are discussed.