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In this paper, an approach for matching of primitive shapes detected from point clouds, to boundary representations of primitive shapes contained in CAD models of objects/workpieces is presented. The primary target application is object detection and pose estimation from noisy RGBD sensor data. This approach can also be used to determine incomplete object poses, including those of symmetrical objects...
In this paper, we present an uncalibrated position-based fixed-camera Visual Servoing for robot manipulators, where the goal is to track the 3D position and orientation of the target. The stereo system with 2 USB cameras is uncalibrated with respect to the robot base frame and the transformation between them is estimated on-line while performing the task. Dynamic impedance control is designed to generate...
This paper introduces 6 new image features to provide a solution to the open problem of uncalibrated 6D image-based visual servoing for robot manipulators, where the goal is to control the 3D position and orientation of the robot end-effector using visual feedback. One of the main contributions of this article is a novel stereo camera model which employs virtual orthogonal cameras to map 6D Cartesian...
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