GEOMETRIC CONTROL OF A BINOCULAR HEAD

Eduardo Bayro-Corrochano, Julio Zamora-Esquivel

2007

Abstract

In this paper the authors use geometric algebra to formulate the differential kinematics of a binocular robotic head and reformulate the interaction matrix in terms of the lines that represent the principal axes of the camera. This matrix relates the velocities of 3D objects and the velocities of their images in the stereo images. Our main objective is the formulation of a kinematic control law in order to close the loop between perception and action, which allows to perform a smooth visual tracking.

References

  1. Bayro-Corrochano, E. and Kahler, D. (2000). Motor algebra approach for computing the kinematics of robot manipulators. In Journal of Robotic Systems. 17(9):495- 516.
  2. C. Canudas de Wit, B. S. and Bastin, G. (1996). Theory of Robot Control. Springer, Berlin, 1st edition.
  3. H. Li, D. Hestenes, A. R. (2001). Generalized Homogeneous coordinates for computational geometry. pages 27-52, in (Somer, 2001).
  4. Hartley and Zisserman, A. (2000). Multiple View Geometry in Computer Vision. Cambridge University Press, UK, 1st edition.
  5. Kim Jung-Ha., K. V. R. (1990). Kinematics of robot manipulators via line transformations. In Journal of Robotic Systems. pp. 647-674.
  6. Ruf, A. (2000). Closing the loop between articulated motion and stereo vision: a projective approach. In PhD. Thesis, INP, GRENOBLE.
  7. Somer, G. (2001). Geometric Computing with Clifford Algebras. Springer-Verlag, Heidelberg, 2nd edition.
  8. 50 100 150 200 250 Figure 6: x, y and z coordinate of the focus of attention.
  9. Figure 7: Sequence of tracking.
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Paper Citation


in Harvard Style

Bayro-Corrochano E. and Zamora-Esquivel J. (2007). GEOMETRIC CONTROL OF A BINOCULAR HEAD . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 183-188. DOI: 10.5220/0001628001830188


in Bibtex Style

@conference{icinco07,
author={Eduardo Bayro-Corrochano and Julio Zamora-Esquivel},
title={GEOMETRIC CONTROL OF A BINOCULAR HEAD},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={183-188},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001628001830188},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - GEOMETRIC CONTROL OF A BINOCULAR HEAD
SN - 978-972-8865-83-2
AU - Bayro-Corrochano E.
AU - Zamora-Esquivel J.
PY - 2007
SP - 183
EP - 188
DO - 10.5220/0001628001830188