The University of Edinburgh -
Division of Informatics
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Research Paper #590

Title:Active Mobile Stereo Vision for Robotic Assembly
Authors:Chongstitvatana,P; Conkie,A
Date: 1992
Presented:Published in the Proceedings of the 23rd Symposium on Industrial Robots, Barcelona, Spain, 1992
Abstract:We present a mobile stereo vision system that is actively controlled to guide a robotic assembly task. The vision system is uncalibrated. The camera positions are known only approximately. The vision system does not rely on precise modelling of parts or of cameras. There is no need to use a common frame of reference linking the vision system, the workspace and the robot hand. A block stacking task is demonstrated. A robot hand moves to pick up randomly placed blocks and stacks them. A stereo camera head is moved to find good views and is used in feedback control of the robot hand. The visual feedback control uses signals which are measured in terms of the feature space in both cameras. The task was performed by a 4 degrees of freedom (DOF) robot hand and a 5 DOF mobile stereo camera head.

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