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The paper addresses kinematics analysis of a 4-DOF underwater manipulator, which can be installed on an Underwater Vehicle-Manipulator System (UVMS). First, the kinematic model of the manipulator is built. Next, the computation for the centers of weight and buoyancy is provided for the analysis of the coupling between the vehicle and the manipulator. Then the calibration including camera calibration...
Depth map provides rich information and it can be utilized in object tracking to handle some challenging problems in conventional RGB tracking such as occlusions and model drift. In this paper, we present a tracker that provides an effective real-time target tracking method based on a binocular camera. The proposed tracker is an extension of the popular KCF algorithm that leverages a circulant structure...
This paper presents a visual servoing docking approach for marsupial robotic system. A vertical V-shaped visual benchmark is designed to guide the docking motion of a child robot with the feedback of image features. By changing the angular of the camera with a rotational DOF, the child robot adjusts its heading orientation for docking. The task is modeled into six states: Blind, Adistance, Atangent,...
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