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IEEE Robotics & Automation Magazine

Issue 4 • Date Dec. 2004

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Displaying Results 1 - 23 of 23
  • Graspit! A versatile simulator for robotic grasping

    Publication Year: 2004, Page(s):110 - 122
    Cited by:  Papers (209)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3144 KB) | HTML iconHTML

    A robotic grasping simulator, called Graspit!, is presented as versatile tool for the grasping community. The focus of the grasp analysis has been on force-closure grasps, which are useful for pick-and-place type tasks. This work discusses the different types of world elements and the general robot definition, and presented the robot library. The paper also describes the user interface of Graspit!... View full abstract»

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  • Calendar

    Publication Year: 2004, Page(s): 130
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  • 2004 Index

    Publication Year: 2004, Page(s):131 - 136
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  • What you see is what you get [self-calibrating camera lens distortion]

    Publication Year: 2004, Page(s):123 - 127
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (613 KB) | HTML iconHTML

    A self-calibration method is presented for self-calibrating camera lens distortion by using only the image correspondences of two views. Two images of a single object are related by the epipolar geometry, which can be described by a 3 × 3 singular matrix called fundamental matrix. It captures all geometric information contained in two images. An optimization method is applied to minimize the... View full abstract»

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  • Educational services discussions at ICRA 2004

    Publication Year: 2004, Page(s): 12
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (182 KB) | HTML iconHTML

    First Page of the Article
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  • Biomimetic centering behavior [mobile robots with panoramic sensors]

    Publication Year: 2004, Page(s):21 - 30, 68
    Cited by:  Papers (22)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (3150 KB) | HTML iconHTML

    A reactive robotic centering behavior based on panoramic vision is presented. It is inspired by the way insects exploit visual information in analogous navigation tasks. By employing a panoramic camera, the development of the centering behavior is simplified both from a theoretical and from an implementation point of view. The proposed method relies on the extraction of primitive visual informatio... View full abstract»

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  • Finding yourself [panoramic image sensors]

    Publication Year: 2004, Page(s):53 - 61
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1068 KB) | HTML iconHTML

    This work presents a robust camera pose algorithm and a working system to compute bounded-error estimates of the position and orientation of panoramic images captured within large, arbitrarily complex environments while moving the camera within a plant. A planning algorithm is used to place fiducials in an environment so as to satisfy a set of fiducial constraints, including the number of visible ... View full abstract»

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  • Autonomous exploration and mapping of abandoned mines

    Publication Year: 2004, Page(s):79 - 91
    Cited by:  Papers (43)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2912 KB) | HTML iconHTML

    This article discusses the software architecture of an autonomous robotic system designed to explore and map abandoned mines. A new set of software tools is presented, enabling robots to acquire maps of unprecedented size and accuracy. On 30 May 2003, the robot "Groundhog" successfully explored and mapped a main corridor of the abandoned Mathies mine near Courtney, Pennsylvania. This article also ... View full abstract»

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  • Household robots look and learn: environment modeling and localization from an omnidirectional vision system

    Publication Year: 2004, Page(s):45 - 52
    Cited by:  Papers (11)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1766 KB) | HTML iconHTML

    The work illustrates that a catadioptric omnidirectional vision system can be successfully applied for basic mobile robot navigation tasks, such as localization and environment learning. In combination with other capabilities of such a sensor, such as the recognition and tracking of humans, and because the price of such systems can be made low, this system is particularly suited for systems that a... View full abstract»

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  • A matrix approach to an FMS control design [flexible manufacturing systems]

    Publication Year: 2004, Page(s):92 - 109
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2092 KB) | HTML iconHTML

    This article presents advantages of using new technologies and design methods for control of flexible manufacturing systems (FMS). For this purpose, a matrix-based description of FMS operations is adopted, as it generates the form of the FMS supervisory controller that is directly convertible into the programmable logic controller (PLC) program. An accent is given to the program tool FlexMan which... View full abstract»

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  • Society News

    Publication Year: 2004, Page(s):6 - 10
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  • Camera cluster in motion: motion estimation for generalized camera designs

    Publication Year: 2004, Page(s):39 - 44
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (799 KB) | HTML iconHTML

    The first comparison of different types of cameras (as opposed to different algorithms) for the ego-motion estimation problem is presented. As technology and computational power increase, the effectiveness of visual algorithms is limited only by inherent statistical uncertainties in the problems they are solving. The Fisher information matrix is a powerful analysis technique that can apply to any ... View full abstract»

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  • The Argus eye: a new imaging system designed to facilitate robotic tasks of motion

    Publication Year: 2004, Page(s):31 - 38
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1527 KB) | HTML iconHTML

    This article describes an imaging system that has been designed to facilitate robotic tasks of motion. The system consists of a number of cameras in a network, arranged so that they sample different parts of the visual sphere. This geometric configuration has provable advantages compared to small field of view cameras for the estimation of the system's own motion and, consequently, the estimation ... View full abstract»

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  • Mosaicking images [panoramic imaging]

    Publication Year: 2004, Page(s):62 - 68
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1557 KB) | HTML iconHTML

    Two methods of mosaicking images were developed, one for the simple case of a shift between two following images and another one for the general case. For the simple mosaicking, the error rate is acceptable for both cases of noisy or less noisy images. Owing to the fact that future generations of scouts would be provided with the 2.4 GHz transmission frequency, panoramic mosaics can be created wit... View full abstract»

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  • Keeping smart, omnidirectional eyes on you [adaptive panoramic stereovision]

    Publication Year: 2004, Page(s):69 - 78
    Cited by:  Papers (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (1996 KB) | HTML iconHTML

    An adaptive panoramic stereo approach for two cooperative mobile platform is presented. There are four key features in the approach: 1) omnidirectional stereovision with an appropriate vertical FOV, and a simple camera calibration method; 2) cooperative mobile platforms for mutual dynamic calibration and best view planning; 3) 3D matching after meaningful object (human subject) extraction; and 4) ... View full abstract»

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  • Following the flock [formation control]

    Publication Year: 2004, Page(s):14 - 20
    Cited by:  Papers (36)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (755 KB) | HTML iconHTML

    A new approach to formation control of nonholonomic mobile robots equipped with central panoramic cameras is presented. The approach uses motion segmentation techniques to estimate the position of each leader and omnidirectional visual servoing for tracking and collision avoidance. The paper showed that direct feedback-linearization of the leader-follower dynamics leads to asymptotic tracking but ... View full abstract»

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  • IEEE Robotics & Automation Magazine - Front cover

    Publication Year: 2004, Page(s): 0_1
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    Freely Available from IEEE
  • IEEE Robotics and Automation Magazine - Table of Contents

    Publication Year: 2004, Page(s): 1
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    Freely Available from IEEE
  • A Major Change at Last! - From the Editor's desk

    Publication Year: 2004, Page(s): 2
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    Freely Available from IEEE
  • Special issue on panoramic robots - From the Guest Editor's

    Publication Year: 2004, Page(s):4 - 5
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    Freely Available from IEEE
  • IEEE/IFR Innovation Award - Call for Applications

    Publication Year: 2004, Page(s): 11
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    Freely Available from IEEE
  • IEEE Conference on Automation Science and Engineering - Call for Papers

    Publication Year: 2004, Page(s): 13
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    Freely Available from IEEE
  • International Conference on Rehabilitation Robotics

    Publication Year: 2004, Page(s): 129
    Request permission for commercial reuse | PDF file iconPDF (415 KB)
    Freely Available from IEEE

Aims & Scope

IEEE Robotics and Automation Magazine is a unique technology publication which is peer-reviewed, readable and substantive.  The Magazine is a forum for articles which fall between the academic and theoretical orientation of scholarly journals and vendor sponsored trade publications.

Full Aims & Scope

Meet Our Editors

Editor-in-Chief
Eugenio Guglielmelli
Laboratory of Biomedical Robotics
      and Biomicrosystems
Universita' Campus Bio-Medico
      di Roma