This paper addresses robust estimation of the uncalibrated visual-motor Jacobian for an image-based visual servoing (IBVS) system. The proposed method does not require knowledge of model or system… (More)
IEEE/RSJ International Conference on Intelligent…
2007
In this paper, we present two methods for the estimation of a globally valid visual-motor model of a robotic manipulator. In conventional uncalibrated visual servoing, the visuo-motor function is… (More)
Robust and real-time relative pose estimation is an integral part of a position-based visual servoing (PBVS) system. Traditionally, extended Kalman filter (EKF) has been used to solve for the… (More)
Pointing to indicate direction or position is one of the intuitive communication mechanisms used by humans in all life stages. Our aim is to develop a natural human-robot command interface using… (More)
It is desirable for a robot to be able to operate in unstructured environments. In this paper, we demonstrate how a robot can learn primitive skills and we show how to augment them. We formalize… (More)
We introduce a new 2D visual tracking algorithm that utilizes an approximate nearest neighbour search to estimate per-frame state updates. We experimentally demonstrate that the new algorithm capable… (More)
This paper reports an evaluation of contact-less hand tracking sensors for the use of tele-operation, in particular for surgical robotics applications. Two hand tracking systems are investigated:… (More)
Three-dimensional sensing of changing surgical scenes would improve the function of surgical robots. This paper explores the requirements and utility of a new type of depth sensor, the plenoptic… (More)
To address the difficulty of designing a controller for complex visual-servoing tasks, two learning-based uncalibrated approaches are introduced. The first method starts by building an estimated… (More)