4 votes
Accepted

Visual-Positioning Method

So it sounds like you have an external camera system to track the end effector position and orientation? In that case I would use QR codes or april tags. Stick a couple of these on your end effector, ...
edwinem's user avatar
  • 1,861
3 votes
Accepted

How to produce a continuous variation of a discontinuous function?

It happens many times that set-points fed in our systems do change in a step-wise manner. Your intuition of filtering those variations is correct and represents a common practice. Here I'd give two ...
Ugo Pattacini's user avatar
3 votes
Accepted

Position vs Image based visual servoing?

The problem in both cases is to move the robot tool to some pose relative to an object. Let's assume the camera is attached to the end of a robot arm (eye in hand case) so we will consider this a ...
Peter Corke's user avatar
  • 1,702
2 votes
Accepted

why atleast three points are needed to control 6 dof?

We need to be able to track 3 points, (sometimes called features), on a solid body to estimate its 6dof pose relative to the camera. Each has an estimated position in the 2D camera image. If you ...
hauptmech's user avatar
  • 4,435
1 vote

Vision-based Position Estimation for a quadrotor

Because a camera is a range-only sensor, you cannot directly estimate the relative position of the object. Additionally, because you have only one object, there are infinite solutions that are equally ...
Gouda's user avatar
  • 902
1 vote

Vision-based Position Estimation for a quadrotor

It's odd that you're suggesting computing the position of a landmark. Literally, a mark on the land -- a position that you should already know and will use to localize your vehicle. You can give it ...
Ian's user avatar
  • 11k
1 vote

How to guide a camera through a circular tube?

The visual servoing will probably be sufficient for keeping the open end of the tube in view -- keeping the proper orientation of the vehicle with respect to the tube. The goal will be to keep the ...
Ian's user avatar
  • 11k
1 vote

How to guide a camera through a circular tube?

If you cannot sense your closeness to the wall of the cylinder, then the image itself will have to guide you. When the end of the cylinder is completely within the field of view of the camera, I ...
SteveO's user avatar
  • 4,386

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