Abstract
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.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
P.K. Allen, B. Yoshimi, and A. Timcenko. Hand-eye coordination for robotics tracking and grasping. In K. Hashimoto, editor, Visual Servoing, pages 33–70. World Scientific, 1994.
R. L. Anderson. Dynamic sensing in a ping-pong playing robot. IEEE Trans. Robot. Automat, 5(6):723–739, December 1989.
M. Asada, K. Hosoda, and S. Suzuki. Vision-based learning and development for emergence of robot behaviors. In Proc. of Symp. on Emergent Systems, pages 16–22, 1997.
A. Blake, R. Curwen, and A. Zisserman. Afine-invariant contour tracking with automatic control of spatiotemporal scale. In Proc. Internal Conf. on Computer Vision, pages 421–430. IEEE Computer Society Press, 1993.
R. A. Brooks. Intelligence without representation. Artificial Intelligence, 47:139–159, 1991.
A. Castano and S. A. Hutchinson. Visual compliance: Task-directed visual servo control. IEEE Trans. Robot. Automat, 10(3):334–342, June 1994.
F. Chaumette, E. Malis, and S. Boudet. 2-D 1/2 visual servoing with respect to a planar object. In Workshop on New Trends in Image-Based Robot Servoing, pages 45–52, 1997.
F. Chaumette, P. Rives, and B. Espiau. Classification and realization of the different vision-based tasks. In K. Hashimoto, editor, Visual Servoing, pages 199–228. World Scientific, 1994.
W.Z. Chen, U.A. Korde, and S.B. Skaar. Position control experiments using vision. Int. J. of Robot Res., 13(3):199–208, June 1994.
Jiyoon Chung and Hyun S. Yang. Fast and effective multiple moving targets tracking method for mobile robots. In IEEE Int. Conf. Robotics Automat., pages 2645–2650, Nagoya, Japan, May 1995.
P. I. Corke. Visual control of robot manipulators-a review. In K. Hashimoto, editor, Visual Servoing, pages 1–32. World Scientific, 1994.
M. W. Eklund, G. Ravichandran, M. M. Trivedi, and S. B. Marapane. Adaptive visual tracking algorithm and real-time implemenation. In IEEE Int. Conf. Robotics Automat., pages 2657–2662, Nagoya, Japan, May 1995.
B. Espiau, F. Chaumette, and P. Rives. A New Approach to Visual Servoing in Robotics. IEEE Trans. on Robotics and Automation, 8:313–326, 1992.
J. Faymann, E. Rivlin, and H. I. Christensen. A system for active vision driven robotics. pages 1986–1992, April 1996.
J.T. Feddema, C.S.G. Lee, and O.R. Mitchell. Weighted selection of image features for resolved rate visual feedback control. IEEE Trans. Robot. Automat, 7(1):31–47, February 1991.
G. D. Hager. A modular system for robust hand-eye coordination. DCS RR-1074, Yale University, New Haven, CT, June 1995. Accepted to appear in IEEE Trans. on Robotics and Automation.
G. D. Hager and P. N. Belhumeur. Efficient region tracking of with parametric models of illumination and geometry. To appear in IEEE PAMI., April 1997.
G. D. Hager and Z. Dodds. A projective framework for constructing accurate hand-eye systems. In Proc. IROS Workshop on New Trends in Image-based Robot Servoing, pages 71–82, 1997.
G. D. Hager and K. Toyama. The “XVision” system: A general purpose substrate for real-time vision applications. Comp. Vision, Image Understanding., 69(1):23–27, January 1998.
G. D. Hager, K. Toyama, W. Feiten, and B. Magnussen. Modeling and control for mobile manipulation in everyday environments. Technical Report TR-1137, Yale University, New Haven, CT, 1997.
G. D. Hager, J. Wang, and K. Toyama. Servomatic: A modular approach to robust positioning using stereo visual servoing. In Proc. Conf. on Robotics and Automation, pages 2636–2641, 1996.
K. Hashimoto. LQ optimal and nonlinear approaches to visual servoing. In K. Hashimoto, editor, Visual Servoing, pages 165–198. World Scientific, 1994.
J. Hespanha, Z. Dodds, G. D. Hager, and A. S. Morse. What tasks can be performed with an uncalibrated stereo vision system? Submitted for review to IJCV, November 1997.
K. Hosoda and M. Asada. Versatile visual servoing without knowledge of true jacobian. In IEEE Int. Workshop on Intelligent Robots and Systems, pages 186–191. IEEE Computer Society Press, 1994.
M. Jagersand, O. Fuentes, and R. Nelson. Acquiring visual-motor models for precision manipulation with robot hands. In Proc., ECCV, 1996.
M. Jagersand, O. Fuentes, and R. Nelson. Experimental evaluation of uncalibrated visual servoing for precision manipulation. In Proc., ICRA, pages 2874–2880, 1997.
H. Kass, A. Witkin, and D. Terzopoulos. Snakes: Active contour models. Int. Journal of Computer Vision, 1:321–331, 1987.
D. Koller, J.W. Weber, and J. Malik. Robust multiple car tracking with occlusion reasoning. In Proc. European Conf. on Computer Vision, pages A:189–196, 1994.
J. Kosecka, H. Christensen, and R. Bajcsy. Discrete event modeling and visually guided behaviors. IJCV, 14:179–191, 1995.
Demian M. Lyons. Representing and analyzing action plans as networks of concurrent processes. IEEE Transactions on Robotics and Automation, 9(7):241–256, 1993.
N. Maru, H. Kase, A. Nishikawa, and F. Miyazaki. Manipulator control by visual servoing with the stereo vision. In IEEE Int. Workshop on Intelligent Robots and Systems, pages 1866–1870. IEEE Computer Society Press, 1993.
D. Murray and A. Basu. Motion tracking with an active camera. IEEE Trans. Pattern Anal. Mach. Intelligence, 16(5):449–459, May 1994.
B. Nelson and P. K. Khosla. Increasing the tracking region of an eye-in-hand system by singularity and joint limit avoidance. In Proc. IEEE Int. Conf. Robot. and Automat., pages 418–423. IEEE Computer Society Press, 1993.
P. Prokopowicz, M. Swain, and R. Kahn. Task and environment-sensitive tracking. Technical Report 94-05, University of Chicago, March 1994.
C. Rasmussen and G. D. Hager. Joint probabilistic techniques for tracking multi-part objects. to appear in CVPR 98, November 1998.
C. Rasmussen, K. Toyama, and G. D. Hager. Tracking objects by color alone. In Proceedings of the Workshop on Applications of Computer Vision, 1996. Submitted.
A.A. Rizzi and D. E. Koditschek. Further progress in robot juggling: The spatial two-juggle. In Proc. IEEE Int. Conf. Robot. and Automat., pages 919–924. IEEE Computer Society Press, 1993.
C. Samson, M. Le Borgne, and B. Espiau. Robot Control: The Task Function Approach. Clarendon Press, Oxford, England, 1992.
J. Shi and C. Tomasi. Good features to track. In Proc. IEEE Conf. Comp. Vision and Patt. Recog., pages 593–600, 1994.
S. B. Skaar, W. H. Brockman, and W. S. Jang. Three-dimensional camera space manipulation. Int. J. of Robot Res., 9(4):22–39, 1990.
C.E. Smith, S.A. Brandt, and N.P. Papnikolopoulos. Controlled active exploration of uncalibrated environments. In Proc. IEEE Conf. Comp. Vision and Patt. Recog., pages 792–795. IEEE Computer Society Press, 1994.
M. Tonko, K. Schafer, F. Heimes, and H.-H. Nagel. Towards visually servoed manipulation of car engine parts. In IEEE Proc. Int. Conf. on Robotics and Automation, 1997.
K. Toyama. Robust Vision-based Object Tracking. PhD thesis, Yale University, 1997.
K. Toyama. The surfball. Technical report, Yale University, http:// www.cs.yale.edu/ HTML/ YALE/ CS/ HyPlans/ toyama/ surfball/ surfball.html, 1997.
L.E. Weiss, A.C. Sanderson, and C.P. Neuman. Dynamic sensor-based control of robots with visual feedback. IEEE J. Robot. Automat., RA-3(5):404–417, Oct. 1987.
S.W. Wijesoma, D.F.H Wolfe, and R.J. Richards. Eye-to-hand coordination for vision-guided robot control applications. Int. J. of Robot Res., 12(1):65–78, 1993.
W.J. Wilson. Visual servo control of robots using kalman filter estimates of robot pose relative to work-pieces. In K. Hashimoto, editor, Visual Servoing, pages 71–104. World Scientific, 1994.
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 1999 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Dodds, Z., Jägersand, M., Hager, G., Toyama, K. (1999). A Hierarchical Vision Architecture for Robotic Manipulation Tasks. In: Computer Vision Systems. ICVS 1999. Lecture Notes in Computer Science, vol 1542. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-49256-9_19
Download citation
DOI: https://doi.org/10.1007/3-540-49256-9_19
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-65459-9
Online ISBN: 978-3-540-49256-6
eBook Packages: Springer Book Archive