General learning algorithm for robot vision

Shree K. Nayar; Hiroshi Murase; Sameer A. Nene

doi:10.1117/12.179225

30 June 1994 General learning algorithm for robot vision

Shree K. Nayar, Hiroshi Murase, Sameer A. Nene

Proceedings Volume 2304, Neural and Stochastic Methods in Image and Signal Processing III; (1994) https://doi.org/10.1117/12.179225
Event: SPIE's 1994 International Symposium on Optics, Imaging, and Instrumentation, 1994, San Diego, CA, United States

Abstract

The problem of vision-based robot positioning and tracking is addressed. A general learning algorithm is presented for determining the mapping between robot position and object appearance. The robot is first moved through several displacements with respect to its desired position, and a large set of object images is acquired. This image set is compressed using principal component analysis to obtain a low-dimensional subspace. Variations in object images due to robot displacements are represented as a compact parametrized manifold in the subspace. While positioning or tracking, errors in end-effector coordinates are efficiently computed from a single brightness image using the parametric manifold representation. The learning component enables accurate visual control without any prior hand-eye calibration. Several experiments have been conducted to demonstrate the practical feasibility of the proposed positioning/tracking approach and its relevance to industrial applications.

Citation Download Citation

Shree K. Nayar, Hiroshi Murase, and Sameer A. Nene "General learning algorithm for robot vision", Proc. SPIE 2304, Neural and Stochastic Methods in Image and Signal Processing III, (30 June 1994); https://doi.org/10.1117/12.179225

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available