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Trajectory planning is a useful technique in robotics for guiding the robot through complicated tasks. In this paper, a new semi-offline trajectory planning method is developed to perform image-based visual servoing (IBVS) tasks for a 6 DOFs robotic manipulator system. This method extends the operation range of the system compared with the traditional IBVS controllers. In this method, the camera's...
Estimating the camera pose in stereo vision systems is an important issue in computer vision and robotics. One popular way to handle this problem consists of determining the essential matrix which minimizes the algebraic error obtained from image point correspondences. Unfortunately, this search amounts to solving a nonconvex optimization, and the existing methods either rely on some approximations...
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