BibTeX
@MISC{Is_visualguidance,
author = {This Thesis Is and Li Fang Gu and Li Fang Gu},
title = {Visual Guidance Of Robot Motion},
year = {}
}
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Abstract
Future robots are expected to cooperate with humans in daily activities. Efficient cooperation requires new techniques for transferring human skills to robots. This thesis presents an approach on how a robot can extract and replicate a motion by observing how a human instructor conducts it. In this way, the robot can be taught without any explicit instructions and the human instructor does not need any expertise in robot programming. A system has been implemented which consists of two main parts. The first part is data acquisition and motion extraction. Vision is the most important sensor with which a human can interact with the surrounding world. Therefore two cameras are used to capture the image sequences of a moving rigid object. In order to compress the incoming images from the cameras and extract 3D motion information of the rigid object, feature detection and tracking are applied to the images. Corners are chosen as the main features because they are more stable under perspecti...
Keyphrases
visual guidance robot motion human instructor rigid object explicit instruction new technique human skill feature detection robot programming data acquisition incoming image daily activity future robot first part important sensor efficient cooperation main part motion extraction motion information image sequence main feature
