A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Surfels: surface elements as rendering primitives
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
Mechanics of robotic manipulation
Mechanics of robotic manipulation
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Fundamentals of Manipulator Calibration
Fundamentals of Manipulator Calibration
Visual Hand Tracking Using Nonparametric Belief Propagation
CVPRW '04 Proceedings of the 2004 Conference on Computer Vision and Pattern Recognition Workshop (CVPRW'04) Volume 12 - Volume 12
Monocular model-based 3D tracking of rigid objects
Foundations and Trends® in Computer Graphics and Vision
Body Schema in Robotics: A Review
IEEE Transactions on Autonomous Mental Development
Methods and Technologies for the Implementation of Large-Scale Robot Tactile Sensors
IEEE Transactions on Robotics
Multimodal templates for real-time detection of texture-less objects in heavily cluttered scenes
ICCV '11 Proceedings of the 2011 International Conference on Computer Vision
Editorial: Joint conferences - TAROS 2012 and FIRA 2012
Robotics and Autonomous Systems
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We present a system that is able to autonomously build a 3D model of a robot's hand, along with a kinematic model of the robot's arm, beginning with very little information. The system starts by using exploratory motions to locate and centre the robot's hand in the middle of its field of view, and then progressively builds the 3D and kinematic models. The system is flexible, and easy to integrate with different robots, because the model building process does not require any fiducial markers to be attached to the robot's hand. To validate the models built by the system we perform a number of experiments. The results of the experiments demonstrate that the hand model built by the system can be tracked with a precision in the order of 1 mm, and that the kinematic model is accurate enough to reliably position the hand of the robot in camera space.