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Visual Servoing on Unknown Objects – Design and implementation of a working system.
KTH, School of Computer Science and Communication (CSC).
2012 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Xavi Gratal

Visual Servoing on Unknown Objects

This thesis presents a system where different components are integrated to grasp an unknown object. Some of these components are based on existing work, while others have been specifically designed or implemented. One of the common denominators of most of these components is that they make use of visual servoing techniques. Visual servoing has been traditionally used in applications where the object to be servoed is known to the robot. Here, these techniques are used to bring the manipulator towards the object, but also as a helper tool for calibration and, in what is known as virtual visual servoing, as a method for pose estimation.

Place, publisher, year, edition, pages
2012.
Series
Trita-CSC-E, ISSN 1653-5715 ; 2012:013
National Category
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-130943OAI: oai:DiVA.org:kth-130943DiVA: diva2:654389
Educational program
Master of Science in Engineering - Information and Communication Technology
Uppsok
Technology
Supervisors
Examiners
Available from: 2013-10-07 Created: 2013-10-07

Open Access in DiVA

No full text

Other links

http://www.nada.kth.se/utbildning/grukth/exjobb/rapportlistor/2012/rapporter12/gratal_javier_12013.pdf
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