Toward automatic robot programming: learning human skill from visual data
DSpace at IIT Bombay
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Title |
Toward automatic robot programming: learning human skill from visual data
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Creator |
CHAUDHURI, SUBHASIS
YEASIN, M |
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Subject |
kalman filters
feature extraction higher order statistics image sequences robot programming splines (mathematics) |
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Description |
We propose a novel approach to program a robot by demonstrating the task multiple number of times in front of a binocular vision system. We track artificially-induced features appearing in the image plane due to nonimpedimental color stickers attached at different fingertips and wrist joint, in a simultaneous feature detection and tracking framework. A Kalman filter does the tracking by recursively predicting the tentative feature location and a higher order statistics (HOS)-based data clustering algorithm extracts the feature. A fast and efficient algorithm for the vision system thus developed processes a binocular video sequence to obtain the trajectories and the orientation information of the end effector from the images of a human hand. The concept of trajectory bundle is introduced to avoid singularities and to obtain an optimal path.
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Publisher |
IEEE
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Date |
2008-11-21T10:28:28Z
2011-11-25T12:44:48Z 2011-12-26T13:07:34Z 2011-12-27T05:55:36Z 2008-11-21T10:28:28Z 2011-11-25T12:44:48Z 2011-12-26T13:07:34Z 2011-12-27T05:55:36Z 2000 |
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Type |
Article
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Identifier |
IEEE Transactions on Systems, Man, and Cybernetics Part B 30(1), 180-85
1083-4419 http://dx.doi.org/10.1109/3477.826958 http://hdl.handle.net/10054/88 http://dspace.library.iitb.ac.in/xmlui/handle/10054/88 |
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Language |
en_US
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