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This paper presents a real-time vision based robot teleoperation system that consists of a three-dimensional (3D) vision subsystem and a slave robot which are connected by LAN. The vision subsystem utilizes an Asus Xtion Pro Live camera to get the 3D data of the operation scene. The vision system is used to determine the position and orientation of a four-ball feature frame held by the operator. Then...
Robots are typically equipped with multiple complementary sensors such as cameras and laser range finders. Camera generally provides dense 2D information while range sensors give sparse and accurate depth information in the form of a set of 3D points. In order to represent the different data sources in a common coordinate system, extrinsic calibration is needed. This paper presents a pipeline for...
In this paper we make improvement to fisheye camera calibration methods. Chessboard corners are used to calculate the relation between 2D image points and 3D world points. In addition, we perform a weighted joint residual refinement. With our fisheye camera calibration method, we can attain better camera parameters and produce a more accurate fisheye undistortion image. Experiment results shows that...
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...
This paper presents an effective approach for multi-task control of the underwater biomimetic vehicle-manipulator system. The main idea of this approach lies in organizing and combining the tasks by priorities, while decomposes the coupled relations among the tasks by null-space mapping consecutively avoiding interaction effects. A direct kinematic model is firstly built to describe the motions and...
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 is concerned with the problem of camera distortion, and it presents a method with short computing time and high calibration accuracy, which can be easily achieved and adaptable to online distortion correction. By introducing adaptive iterative process this method could correct the camera distortion in real time. The method firstly applies the adaptive iterative process on the distortion...
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