Introduction to algorithms
Computing Occlusion-Free Viewpoints
IEEE Transactions on Pattern Analysis and Machine Intelligence
Adaptively sampled distance fields: a general representation of shape for computer graphics
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
Introductory Techniques for 3-D Computer Vision
Introductory Techniques for 3-D Computer Vision
Keeping features in the field of view in eye-in-hand visual servoing: a switching approach
IEEE Transactions on Robotics
IEEE Transactions on Robotics
Active vision in robotic systems: A survey of recent developments
International Journal of Robotics Research
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This paper focuses on the challenges of vision-based motion planning for industrial manipulators. Our approach is aimed at planning paths that are within the sensing and actuation limits of industrial hardware and software. Building on recent advances in path planning, our planner augments probabilistic road maps with vision-based constraints. The resulting planner finds collision-free paths that simultaneously avoid occlusions of an image target and keep the target within the field of view of the camera. The planner can be applied to eye-in-hand visual-targettracking tasks for manipulators that use point-to-point commands with interpolated joint motion.