Desensitization of camera-aided manipulation to target specification errors

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dc.contributor.authorKüçük, Haluk
dc.contributor.authorParker, Gordon G.
dc.contributor.authorBaumgartner, Eric T.
dc.contributor.authorKlymyshyn, Nicholas A.
dc.date.accessioned13.07.201910:50:10
dc.date.accessioned2019-07-16T08:24:48Z
dc.date.available13.07.201910:50:10
dc.date.available2019-07-16T08:24:48Z
dc.date.issued2004
dc.departmentKüçük, H., Nigde Üniversitesi, Aksaray Muhendislik Fakultesi, Konya Yolu, 68100, Aksaray, Turkey -- Parker, G.G., Mechanical Engineering Department, Michigan Technological University, 1400 Townsend Drive, Houghton, MI 49931-1295, United States -- Baumgartner, E.T., Jet Propulsion Laboratory, Mech. and Robotic Technologies Group, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109-8099, United States -- Klymyshyn, N.A., Battelle, Pacific Northwest Laboratory, P.O. Box 999/K5-22, Richland, WA 99352, United States
dc.description.abstractApplications of vision-based remotely operated robotic systems range from planetary exploration to hazardous waste remediation, For space applications, where communication time lags are large, the target selection and robot positioning tasks may be performed sequentially, differing from conventional telerobotic maneuvers. For these point-and-move systems, the desired target must be defined in the image plane of the cameras either by an operator or through image processing software. Ambiguity of the target specification will naturally lead to end-effector positioning errors. In this paper, the target specification error covariance is shown to transform linearly to the end-effector positioning error. In addition, a methodology for optimal estimation of camera-view parameters of a vision-based robotic system based on target specification errors is presented. The proposed strategy is based on minimizing the end-effector error covariance matrix. Experimental results are presented demonstrating an increase in end-effector positioning, compared to traditional view parameter estimation by up to 32%.
dc.identifier.doi10.1162/1054746041944795
dc.identifier.endpage394en_US
dc.identifier.issn1054-7460
dc.identifier.issue4en_US
dc.identifier.scopusqualityQ3
dc.identifier.startpage385en_US
dc.identifier.urihttps://dx.doi.org/10.1162/1054746041944795
dc.identifier.urihttps://hdl.handle.net/20.500.12451/2969
dc.identifier.volume13en_US
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.relation.ispartofPresence: Teleoperators and Virtual Environments
dc.relation.publicationcategoryMakale - Ulusalarası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.titleDesensitization of camera-aided manipulation to target specification errors
dc.typeReview Article

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