A hierarchical vision architecture for robotic manipulation tasks

Zachary Dodds; Martin Jägersand; Greg Hager; Kentaro Toyama

doi:10.1007/3-540-49256-9_19

A hierarchical vision architecture for robotic manipulation tasks

Zachary Dodds, Martin Jägersand, Greg Hager, Kentaro Toyama

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

16 Scopus citations

Abstract

Real world manipulation tasks vary in their demands for precision and freedoms controlled. In particular, during any one task the complexity may vary with time. For a robotic hand-eye system, precise tracking and control of full pose is computationally expensive and less robust than rough tracking of a subset of the pose parameters (e.g. just translation). We present an integrated vision and control system in which the vision component provides (1) the continuous, local feedback at the required complexity for robot manipulation and (2) the discrete state information needed to switch between control modes of differing complexity.

Original language	English (US)
Title of host publication	Computer Vision Systems - 1st International Conference, ICVS 1999, Proceedings
Editors	Henrik I. Christensen
Publisher	Springer Verlag
Pages	312-330
Number of pages	19
ISBN (Print)	3540654593, 9783540654599
DOIs	https://doi.org/10.1007/3-540-49256-9_19
State	Published - 1999
Externally published	Yes
Event	1st International Conference on Computer Vision Systems, ICVS 1999 - Las Palmas, Spain Duration: Jan 13 1999 → Jan 15 1999

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	1542
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	1st International Conference on Computer Vision Systems, ICVS 1999
Country/Territory	Spain
City	Las Palmas
Period	1/13/99 → 1/15/99

ASJC Scopus subject areas

Theoretical Computer Science
General Computer Science

Access to Document

10.1007/3-540-49256-9_19

Cite this

Dodds, Z., Jägersand, M., Hager, G., & Toyama, K. (1999). A hierarchical vision architecture for robotic manipulation tasks. In H. I. Christensen (Ed.), Computer Vision Systems - 1st International Conference, ICVS 1999, Proceedings (pp. 312-330). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 1542). Springer Verlag. https://doi.org/10.1007/3-540-49256-9_19

A hierarchical vision architecture for robotic manipulation tasks. / Dodds, Zachary; Jägersand, Martin; Hager, Greg et al.
Computer Vision Systems - 1st International Conference, ICVS 1999, Proceedings. ed. / Henrik I. Christensen. Springer Verlag, 1999. p. 312-330 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 1542).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Dodds, Z, Jägersand, M, Hager, G & Toyama, K 1999, A hierarchical vision architecture for robotic manipulation tasks. in HI Christensen (ed.), Computer Vision Systems - 1st International Conference, ICVS 1999, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 1542, Springer Verlag, pp. 312-330, 1st International Conference on Computer Vision Systems, ICVS 1999, Las Palmas, Spain, 1/13/99. https://doi.org/10.1007/3-540-49256-9_19

Dodds Z, Jägersand M, Hager G, Toyama K. A hierarchical vision architecture for robotic manipulation tasks. In Christensen HI, editor, Computer Vision Systems - 1st International Conference, ICVS 1999, Proceedings. Springer Verlag. 1999. p. 312-330. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/3-540-49256-9_19

Dodds, Zachary ; Jägersand, Martin ; Hager, Greg et al. / A hierarchical vision architecture for robotic manipulation tasks. Computer Vision Systems - 1st International Conference, ICVS 1999, Proceedings. editor / Henrik I. Christensen. Springer Verlag, 1999. pp. 312-330 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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A hierarchical vision architecture for robotic manipulation tasks

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