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Prof. Daniel E. Koditschek

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Dynamic Stereo Triangulation for Robot Juggling

Proceedings of the Third International Symposium on Experimental Robotics October 1993

A. A. Rizzi and D. E. Koditschek
University of Michigan

NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan, Ann Arbor. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.

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Abstract
      We have devised a nonlinear state estimator to recover the position and velocity of falling balls directly from the image plane measurements of a stereo camera pair. Avoiding an explicit triangulation step in the estimation procedure allows the continued use of one camera’s date even when the other camera may be occluded. This paper presents a rudimentary analysis, some simulation results, and data from a working implementation that suggest the potential utility of the idea.
BibTeX entry
@inproceedings{rizzi-iser-1993,
      address={Kyoto, Japan},
      author={A. A. Rizzi and D. E. Koditschek},
      booktitle={Proceedings Third International Symposium on Experimental Robotics},
      month={Oct},
      title={The Control of a Robot Juggler},
      year={1993}
}

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