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http://dx.doi.org/10.7315/CADCAM.2014.356

Sampling-based Control of SAR System Mounted on A Simple Manipulator  

Lee, Ahyun (Computer Software, Korea University of Science and Technology)
Lee, Joo-Ho (College of Information Science and Engineering, Ritsumeikan University)
Lee, Joo-Haeng (HRI Lab., Electronics and Telecommunications Research Institute)
Publication Information
Korean Journal of Computational Design and Engineering / v.19, no.4, 2014 , pp. 356-367 More about this Journal
Abstract
A robotic sapatial augmented reality (RSAR) system, which combines robotic components with projector-based AR technique, is unique in its ability to expand the user interaction area by dynamically changing the position and orientation of a projector-camera unit (PCU). For a moving PCU mounted on a conventional robotic device, we can compute its extrinsic parameters using a robot kinematics method assuming a link and joint geometry is available. In a RSAR system based on user-created robot (UCR), however, it is difficult to calibrate or measure the geometric configuration, which limits to apply a conventional kinematics method. In this paper, we propose a data-driven kinematics control method for a UCR-based RSAR system. The proposed method utilized a pre-sampled data set of camera calibration acquired at sufficient instances of kinematics configurations in fixed joint domains. Then, the sampled set is compactly represented as a set of B-spline surfaces. The proposed method have merits in two folds. First, it does not require any kinematics model such as a link length or joint orientation. Secondly, the computation is simple since it just evaluates a several polynomials rather than relying on Jacobian computation. We describe the proposed method and demonstrates the results for an experimental RSAR system with a PCU on a simple pan-tilt arm.
Keywords
Computer vision; Pro-cam system; Spatial augmented reality; Calibration; Kinematics; B-spline surface fitting;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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