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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-e ector. 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)
In this paper we provide a brief introduction to MIAMM – a multimodal system for exploration of music databases. Among the modalities supported, haptics plays a central role. In particular, multi-finger haptic interaction techniques for data shaping and exploration will be investigated. We explain our chosen methodology for designing these interaction(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 configuration, eventhough no camera calibration is assumed. In a projective reconstruction of the scene,(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)
In this paper, we address the problem of visually guiding and controlling a robot in projective three-space using stereo vision. As the proposed method is entirely formulated in projective space, metric models of the system have become obsolete and ”easy-to-find” projective models of both, the stereo geometry and the robot’s “projective kinematics”, may be(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 kinematics”. As a result, motions in jointand imagespace can be related without metric calibration,(More)