Robot positioning using camera-space manipulation with a linear camera model

Authors:
Juan Manuel Rendón-Mancha;Antonio Cárdenas;Marco A. García;Emilio González-Galván;Bruno Lara
Affiliations:
Facultad de Ciencias, Universidad Autónoma del Estado de Morelos, Cuernavaca, Mexico;Facultad de Ingeniería, Universidad Autónoma de San Luis Potosí, San Luis Potosí, Mexico;Facultad de Ingeniería, Universidad Autónoma de San Luis Potosí, San Luis Potosí, Mexico;Facultad de Ingeniería, Universidad Autónoma de San Luis Potosí, San Luis Potosí, Mexico;Facultad de Ciencias, Universidad Autónoma del Estado de Morelos, Cuernavaca, Mexico
Venue:
IEEE Transactions on Robotics
Year:
2010

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Abstract

This paper presents a new version of the camera-space-manipulation method (CSM). The set of nonlinear view parameters of the classic CSM is replaced with a linear model. Simulations and experiments show a similar precision error for the two methods. However the new approach is simpler to implement and is faster.