Andreas Ruf

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This paper presents results of a model–based approach to visual tracking and pose estimation for a moving polyhedral tool in position–based visual servoing. This enables the control of a robot in look-and-move mode to achieve six degree of freedom goal configurations. Robust solutions of the correspondence problem – known as " matching " in the static case(More)
Visual servoing of robot manipulators is a key technique where video images, i.e. the visual appearance of an object is used to control the end-eeector. Most such methods use robots and cameras that have been calibrated. In this report we suggest a non-metric formulation of visual servoing that works with an uncalibrated stereo rig, i.e. in the projective(More)
This paper proposes a methodological framework for tra-jectory generation in projective space. The framework enables trajectories that respect rigidity constraints of structure and motion, that are furthermore uniform and optimal in terms of Euclidean configuration, eventhough no camera calibration is assumed. In a projective reconstruction of the scene,(More)
This paper establishes a link between uncalibrated stereo vision and the motion of rigid and articulated bodies. The variation in the projective reconstruction of a dynamic scene over time allows an uncalibrated stereo rig to be used as a faithful motion capturing device. We introduce an original theoretical framework – projective kine-matics – which allows(More)
In this paper we describe a method for estimating the internal parameters of the left and right cameras associated with a stereo image pair. The stereo pair has known epipolar geometry and therefore 3-D projective reconstruction of pairs of matched image points is available. The stereo pair is allowed to move and hence there is a collineation relating the(More)
This paper investigates the homography which transforms a set of points in projective space when undergoing a rigid translation, termed a projective translation. A representation with seven parameters is proposed. They represent explicitly the geometric entities constraining and defining the translation. A practical algebraic method for extracting these(More)
This paper presents a new approach to controlling a robot from video-feedback. In contrast to classical approaches , the entire system is modeled by means of projective geometry. For the robot's geometry in particular , we introduce a new formalism " projective kine-matics ". As a result, motions in joint-and image-space can be related without metric(More)
This paper proposes a methodological framework for trajectory generation in projective space. The framework enables trajectories that respect rigidity constraints of structure and motion, that are furthermore uniform and optimal in terms of Euclidean conngura-tion, eventhough no camera calibration is assumed. In a projective reconstruction of the scene,(More)