Numerical recipes: the art of scientific computing
Numerical recipes: the art of scientific computing
Three-dimensional camera space manipulation
International Journal of Robotics Research
International Journal of Robotics Research
Handbook of mathematics (3rd ed.)
Handbook of mathematics (3rd ed.)
Complete scene structure from four point correspondences
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Hidden Markov Measure Field Models for Image Segmentation
IEEE Transactions on Pattern Analysis and Machine Intelligence
An interactive framework for acquiring vision models of 3-D objects from 2-D images
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
A novel Markovian formulation of the correspondence problem in stereo vision
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Precise and robust large-shape reproduction using uncalibrated vision
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Robot positioning using camera-space manipulation with a linear camera model
IEEE Transactions on Robotics
| Hi-index | 0.00 |
Multiple industrial manufacturing tasks require a complex path to be followed precisely over an arbitrary surface which has a geometry that is not known with precision. Examples of such tasks include welding, glue-application, cutting, plasma-spraying, etc., over commercial plates whose geometry cannot be known in advance. Such processes are in general referred to as surface manufacturing. In this work, a path is traced over the surface in an optimal fashion, using the concept of geodesic mapping. By definition, a geodesic line is the shortest line that joins two points over a surface whose algebraic representation is known. Such an optimal solution of a problem, associated with variational calculus, is the approach employed for mapping complex paths, defined in a data base, over a surface of arbitrary geometry. The straight-line segments in which a complex path can be divided are mapped onto an arbitrary surface as geodesic lines. The presented algorithm enables a user to interact with the system in a simple and efficient manner using a commercial computer pointing device. The algorithm was tested experimentally in an industrial maneuver involving arc welding, using an industrial robot and a method of vision-based, robot guidance known as camera-space manipulation. This method has the advantage of not requiring calibration of optical or mechanical components.