Distributed visual servoing with a roving eye

This paper presents experimental results of preliminary research into multi-robot coordination for construction tasks. Experiments demonstrate that an autonomous "roving eye" robot can provide feedback to a manipulator to align targets from a wider variety of situations than is possible with fixed cameras, without sacrificing the accuracy provided by cameras at close range. The roving eye changes its location autonomously based on current images of the manipulated object and target, always striving for the best view of the task.

Authors

• David Hershberger
• Robert R. Burridge
• David Kortenkamp
• Reid G. Simmons

Keywords

• Visual servoing
• Robotic assembly
• Robot kinematics
• Structural beams
• Robot vision systems
• Cameras
• Feedback
• Cranes
• Manipulators
• Buildings
• Roving Eye
• Close Range
• Field Of View
• Visual System
• Relative Measure
• Bounding Box
• Kalman Filter
• Visual Feedback
• Observation Points
• Robotic Arm
• Mobile Robot
• Relative Depth
• Lateral Motion
• Corner Points
• Relative Pose
• Color Filter
• Motion Behavior
• Relative Disparity
• Wide Variety Of Situations
• Absolute Depth
• Pair Of Cameras
• Surface Normals
• Object Motion
• Visual Control
• Object Position
• Robot Motion
• Control Arm