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We present an approach to control a 6-degree-of-freedom (DOF) manipulator using an uncalibrated visual servoing (VS) approach that addresses the challenges of choosing proper image features for target objects and designing a VS controller to enhance the tracking performance. The main contribution of this paper is the definition of a new virtual visual space (image space). A novel stereo camera model...
In this paper, we present a new vision-based multiple human tracking system. This novel 3D visual tracking system is capable of automatically identifying, labeling and tracking multiple humans in real-time even when they occlude each other. Furthermore, the multiple human tracker was implemented in a vision driven robot system for human robot interaction. The distributed system comprises of 4 subsystems:...
Despite the fact that minimally invasive robotic surgery provides many advantages for patients, complex tasks are still time-consuming, error-prone and lead to quicker fatigue of the surgeon. Automating recurrent tasks could greatly reduce total surgery time for patients. While surgeons gain most of the information which is necessary to perform the operation from the visual feedback of cameras, there...
Both Robots and Personal Computers established new markets about 30 years ago and were enabling factors in Automation and Information Technology. However, while you can see Personal Computers in almost every home nowadays, the domain of Robots in general still is mostly restricted to industrial automation. Due to the physical impact of robots, a safe design is essential, which most robots still lack...
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