Robotic exploration under the controlled active vision framework

Christopher E. Smith, Scott A. Brandt, Nikolaos Papanikolopoulos

Research output: Contribution to journalConference articlepeer-review


Robust techniques are presented for the derivation of depth from feature points on a target's surface and for the accurate and high-speed tracking of moving targets. These techniques are incorporated into a system that operates with little or no a priori knowledge of the object-related parameters present in the environment. The system is designed under the Controlled Active Vision framework and robustly determine parameters essential for performing higher level tasks such as inspection, exploration, tracking, grasping and collision-free motion planning. The system was implemented on the Minnesota Robotic Visual Tracker, a visual sensor mounted on the end-effector of a robotic manipulator combined with a real-time vision system.

Original languageEnglish (US)
Pages (from-to)3796-3801
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 1994
EventProceedings of the 33rd IEEE Conference on Decision and Control. Part 1 (of 4) - Lake Buena Vista, FL, USA
Duration: Dec 14 1994Dec 16 1994


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