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

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5 Author(s)
Rendón-Mancha, J.M. ; Fac. de Cienc., Univ. Autonoma del Estado de Morelos, Cuernavaca, Mexico ; Cárdenas, A. ; García, M.A. ; González-Galván, E.
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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.

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