Three-dimensional camera space manipulation
International Journal of Robotics Research
Intelligence without representation
Artificial Intelligence
Eye-to-hand coordination for vision-guided robot control applications
International Journal of Robotics Research
Robust multiple car tracking with occlusion reasoning
ECCV '94 Proceedings of the third European conference on Computer vision (vol. 1)
Discrete event modeling of visually guided behaviors
International Journal of Computer Vision - Special issue on qualitative vision
X Vision: a portable substrate for real-time vision applications
Computer Vision and Image Understanding
Efficient Region Tracking With Parametric Models of Geometry and Illumination
IEEE Transactions on Pattern Analysis and Machine Intelligence
What Tasks can be Performed with an Uncalibrated Stereo Vision System?
International Journal of Computer Vision
Robot Control: The Task Function Approach
Robot Control: The Task Function Approach
Motion Tracking with an Active Camera
IEEE Transactions on Pattern Analysis and Machine Intelligence
Acquiring Visual-Motor Models for Precision Manipulation with Robot Hands
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume II - Volume II
Joint Probabilistic Techniques for Tracking Multi-Part Objects
CVPR '98 Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Robust vision-based object tracking
Robust vision-based object tracking
Evaluation of Model Independent Image-Based Visual Servoing
CRV '04 Proceedings of the 1st Canadian Conference on Computer and Robot Vision
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Real world manipulation tasks vary in their demands for precision and freedoms controlled. In particular, during any one task the complexity may vary with time. For a robotic hand-eye system, precise tracking and control of full pose is computationally expensive and less robust than rough tracking of a subset of the pose parameters (e.g. just translation). We present an integrated vision and control system in which the vision component provides (1) the continuous, local feedback at the required complexity for robot manipulation and (2) the discrete state information needed to switch between control modes of differing complexity.