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Robot Positioning Using Camera-Space Manipulation With a Linear Camera Model

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5 Author(s)
Juan Manuel Rendon-Mancha ; Facultad de Ciencias, Universidad Autónoma del Estado de Morelos, C.P., Cuernavaca, Mexico ; Antonio Cardenas ; Marco A. Garcia ; Emilio Gonzalez-Galv?n
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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.

Published in:

IEEE Transactions on Robotics  (Volume:26 ,  Issue: 4 )