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Published in , 1901

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Performance of a partitioned visual feedback controller

Published in Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on, 1901

We present a novel approach we call partitioning where the robot's degrees-of-freedom (DOF) are categorized into two classes based on joint kinematics and dynamics to design a coupled multi-input control system.

Computing Camera Viewpoints in a Robot Work-Cell

Published in Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on, 1996

Automatically planning a camera viewpoint for tasks such as inspection in an active robot work-cell is a difficult problem.

Solid Model Acquisition from Range Imagery

Published in , 1998

Recently the use of three-dimensional computer models has greatly increased, in part because of the availability of fast, inexpensive graphics hardware and technologies such as VRML-ready Internet browsers.

Design of Partitioned Visual Feedback Controller

Published in IEEE Int. Conf. on Robotics and Automation, 1998

Image-based servoing systems are often used to track moving targets and their underlying control architecture is a regulation of the image.

Registering, Integrating, and Building CAD Models from Range Data

Published in Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on, 1998

We introduce two methods for the registration of range images when a prior estimate of the transformation between views is not available and the overlap between images is relatively small.

Interactive Sensor Planning

Published in Computer Vision and Pattern Recognition Conference (CVPR), 1998

This paper describes an interactive sensor planning system, that can be used to select viewpoints subject to camera visibility, field of view and task constraints.

View Planning for Site Modeling

Published in Proc. DARPA Image Understanding Workshop, 1998

3-D models of complex environments, known as site models, are used in many different applications ranging from city planning, urban design, fire and police planning, military applications, virtual reality modeling and others.

Examples of 3-D Grasp Quality Computations

Published in Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on, 1999

Previous grasp quality research is mainly theoretical, and has assumed that contact types and positions are given, in order to preserve the generality of the proposed quality measures.

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