Scheduled System Maintenance:
On May 6th, single article purchases and IEEE account management will be unavailable from 8:00 AM - 5:00 PM ET (12:00 - 21:00 UTC). We apologize for the inconvenience.
By Topic

Visual guidance for robot motion

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $31
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Blake, A. ; Dept. of Eng. Sci., Oxford Univ., UK ; Cipolla, R. ; Curwen, R. ; Xie, Z.
more authors

Summary form only given. This paper proposes an approach to path-planning around smooth obstacles that exploits visually derived geometry. A moving robot can scan the silhouette or apparent contour of an obstacle and estimate a minimum length path. This is done by seeking geodesics which can be extrapolated smoothly, around the obstacle and towards the goal. Preliminary implementation of this idea uses a real-time visual contour tracker running in real-time, with a camera mounted on an Adept robot arm. The camera first `dithers' to generate visual motion, a safe path is estimated, and the robot steers the camera around the obstacle with a clearance of a few millimetres. The practical path-planning system uses a CCD camera with computer-controlled zoom, focus and aperture, mounted on the wrist joint of a 5-axis Adept 1 SCARA arm. Vision hardware is based around a SUN4/260 with datacube system and transputer parallel processing hardware

Published in:

Active and Passive Techniques for 3-D Vision, IEE Colloquium on

Date of Conference:

19 Feb 1991