IPAB Workshop - 22/03/2018

Title

Viewpoint Tracking and Visual Servoing with Inverted Robot Arm

Abstract

Radim will present two vision applications they have recently developed for the UR10 workcell. The workcell is equipped with four static Kinect sensors, which provide images and 3D data of the environment.

Additionally a moving camera pair is mounted on the wrist of the arm.

In the first case they used this setup for tracking of the best view from the arm camera to a given target in the presence of dynamic occlusions.

More recently they have employed all available cameras for hybrid visual servoing to a moving target.