To achieve robust and accurate collaborative 3D measurement under complex noise conditions, a global calibration method for dual-arm hand–eye systems and multi-view 3D imaging is proposed. A multi-view 3D scanning approach based on ICP (M3DHE-I...
In order to improve industrial production efficiency, a hand–eye system based on 3D vision is proposed and the proposed system is applied to the assembly task of workpieces. First, a hand–eye calibration optimization algorithm based on da...
The Euclidean distance error of calibration results cannot be calculated during the hand–eye calibration process of a manipulator because the true values of the hand–eye conversion matrix cannot be obtained. In this study, a new method fo...
A robot can identify the position of a target and complete a grasping based on the hand–eye calibration algorithm, through which the relationship between the robot coordinate system and the camera coordinate system can be established. The accuracy of...
Large-scale surfaces are prevalent in advanced manufacturing industries, and 3D profilometry of these surfaces plays a pivotal role for quality control. This paper proposes a novel and flexible large-scale 3D scanning system assembled by combining a...
Eye-in-hand robotic binocular sensor systems are indispensable equipment in the modern manufacturing industry. However, because of the intrinsic deficiencies of the binocular sensor, such as the circle of confusion and observed error, the accuracy of...
Three-dimensional reconstruction and semantic understandings have attracted extensive attention in recent years. However, current reconstruction techniques mainly target large-scale scenes, such as an indoor environment or automatic self-driving cars...
In harvesting operations, simulation verification of hand–eye coordination in a virtual canopy is critical for harvesting robot research. More realistic scenarios, vision-based driving motion, and cross-platform interaction information are need...
Large-sized components with numerous small key local features are essential in advanced manufacturing. Achieving high-precision quality control necessitates accurate and highly efficient three-dimensional (3D) measurement techniques. A flexible measu...
1 February 2021
The implementation of virtual reality (VR) opens up a wide range of possibilities for the development of dexterity, speed and precision of movements. The aim of this study was to investigate whether immersive VR training affected the hand–eye coordin...
The measurement system proposed in this paper, using a measuring arm and line structured light, has a wide range of applications. To improve the scanning efficiency, the system outlined in this paper uses two single-line structured lights to form cro...
Although robotic vision systems offer a promising technology solution for rapid and reconfigurable in-process 3D inspection of complex and large parts in contemporary manufacturing, measurement accuracy poses a challenge for its wide deployment. One...
This paper presents the implementation of a vision system for a collaborative robot equipped with a web camera and a Python-based control algorithm for automated object-sorting tasks. The vision system aims to detect, classify, and manipulate objects...
Smart agricultural harvesting robots’ vision recognition, control decision, and mechanical hand modules all resemble the human eye, brain, and hand, respectively. To enable automatic and precise picking of target fruits and vegetables, the syst...
A multi-robot collaboration system can complete more complex tasks than a single robot system. Ensuring the calibration accuracy between robots in the system is a prerequisite for the effective inter-robot cooperation. This paper presents a dual-robo...
Skeletal muscle mass deficiency and quality degradation constitute sarcopenia for elderly people. Sarcopenia can result in musculoskeletal damage and accompany various metabolic problems, which make early sarcopenia diagnosis important. Various modal...
Reaction time and hand–eye coordination are critical neuromotor skills in school-aged children, influencing academic, cognitive, and motor development. The objective of this study was to evaluate schoolchildren’s performance on reaction t...
As Taiwan is about to enter a super-elderly society (the elderly over 65 years old account for more than 20% of the total population), how to delay disability and dementia in the elderly has become an important issue. Increasing the use of toys and g...
This paper proposes the implementation of an assisting technology to a processing/reprocessing mechatronics line (P/RML), comprising the following: two autonomous robotic systems (ARSs), two robotic manipulators (RMs) and three visual servoing system...
The point cloud is one of the measurement results of local measurement and is widely used because of its high measurement accuracy, high data density, and low environmental impact. However, since point cloud data from a single measurement are general...
The often reported reduction of Reaction Time (RT) by Vision Training) is successfully replicated by 81 athletes across sports. This enabled us to achieve a mean reduction of RTs for athletes eye-hand coordination of more than 10%, with high statisti...
The ability to autonomously generate up-to-date 3D models of robotic workcells is critical for advancing smart manufacturing, yet existing Next-Best-View (NBV) methods often rely on paradigms ill-suited for the fixed-base manipulators found in dynami...
Pedicle screw insertion with robot assistance dramatically improves surgical accuracy and safety when compared with manual implantation. In developing such a system, hand–eye calibration is an essential component that aims to determine the tran...
This paper presents a modified model for hand–eye calibration based on dual quaternion algebra. By using dual quaternions to represent the rotations and translations of a rigid body simultaneously in the task space, the formulation is elegant f...
To optimize the structure and workflow of the 3D measurement robot system, reduce the dependence on specific calibration targets or high-precision calibration objects, and improve the versatility of the system’s self-calibration, this paper pro...
The hand–eye calibration of laser profilers and industrial robots is a critical component of the laser vision system in welding applications. To improve calibration accuracy and efficiency, this study proposes a position-constrained calibration...
1 September 2022
Some experiences demonstrate a direct correlation between attention capacity and reaction capacity. However, the evidence from adolescents enrolled in the Chilean school system is scarce. The purpose of this study was to determine the relationship be...
An accurate and reliable estimation of the transformation matrix between an optical sensor and a robot is a key aspect of the hand–eye system calibration process in vision-guided robotic applications. This paper presents a novel approach to mar...
In robot-assisted ultrasound-guided needle biopsy, it is essential to conduct calibration of the ultrasound probe and to perform hand-eye calibration of the robot in order to establish a link between intra-operatively acquired ultrasound images and r...
This research focused on using RGB-D images and modifying an existing machine learning network architecture to generate predictions of the location of successfully grasped objects and to optimize the control system for state delays. A five-finger gri...
This work proposes a hybrid deep learning-based framework for visual feedback control in an eye-in-hand robotic system. The framework uses an early fusion approach in which real and synthetic images define the training data. The first layer of a ResN...
This paper presents an uncalibrated visual servoing scheme for underwater vehicle manipulator systems (UVMSs) with an eye-in-hand camera under uncertainties. These uncertainties contain vision sensor parameters, UVMS kinematics and feature position i...
In view of the phenomenon that camera imaging will appear large up close and small from afar in the eye-to-hand hand-calibration system, one hand–eye calibration is carried out. The manipulator is only suitable for grasping objects of the same...
10 August 2022
Vision is one of the most complex and dominant sensory systems necessary for information feedback from the environment. Few studies have already reported a positive effect of a sport vision program on elite sport teams’ visual skills; however,...
A method for simultaneous laser profilometer and hand–eye calibration in relation to an industrial robot as well as its implementation is presented. In contrast to other methods, the new calibration procedure requires the measurement of only one refe...
Utilizing machine vision technology based on YOLOv5, a six-axis robot can quickly identify and classify targets. However, when the YOLOv5 model is used for the recognition and grasping of small workpieces, issues such as low precision and missed dete...
The precision and stability of the Robot-Assisted Percutaneous Puncture (RAPP) system have become increasingly crucial with the widespread integration of robotic technology in the field of medicine. The accurate calibration of the RAPP system prior t...
Visual inspection is an important task in manufacturing industries in order to evaluate the completeness and quality of manufactured products. An autonomous robot-guided inspection system was recently developed based on an offline programming (OLP) a...
During the process of automated crop picking, the two hand–eye coordination operation systems, namely “eye to hand” and “eye in hand” have their respective advantages and disadvantages. It is challenging to simultaneousl...
In subway tunnel construction, current hand–eye integrated drilling robots use a camera mounted on the drilling arm for image acquisition. However, dust interference and long-distance operation cause a decline in image quality, affecting the st...
This paper proposes a three-dimensional (3D) point-of-intention (POI) determination method using multimodal fusion between hand pointing and eye gaze for a 3D virtual display. In the method, the finger joint forms of the pointing hand sensed by a Lea...
Monocular visual measurement and vision-guided robotics technology find extensive application in modern automated manufacturing, particularly in aerospace assembly. However, during assembly pose measurement and guidance, the propagation and accumulat...
6 January 2023
Background: To perform motor tasks, athletes must gather a considerable amount of visual information quickly. Evidence shows that visual skills vary between athletes and non-athletes, and impact athletic performance. However, there is no scientific e...
Hand-eye calibration and three-dimensional space target positioning are the keys to realize the automatic grasping of the manipulator. Aiming at the problems of a difficult camera manipulator calibration and poor real-time segmentation and positionin...
The routine use of prosthetic hands significantly enhances amputees’ daily lives, yet it often introduces cognitive load and reduces reaction speed. To address this issue, we introduce a wearable semi-autonomous hierarchical control framework t...
In robot navigation and manipulation, accurately determining the camera’s pose relative to the environment is crucial for effective task execution. In this paper, we systematically prove that this problem corresponds to the Perspective-3-Point...
Background: Visual and oculomotor skills are essential components of athletic performance, particularly in sports that demand rapid visual processing and precise motor execution. This study aimed to provide a descriptive analysis of the visual and oc...
In this study we present an autonomous grasping system that uses a vision-guided hand–eye coordination policy with closed-loop vision-based control to ensure a sufficient task success rate while maintaining acceptable manipulation precision. When fac...
Multi-camera systems are an effective solution for perceiving large areas or complex scenarios with many occlusions. In such a setup, an accurate camera network calibration is crucial in order to localize scene elements with respect to a single refer...
Bio-inspired transverse brachiation robots mimic the movement of human climbers as they traverse along ledges on a vertical wall. The constraints on the locomotion of these robots differ considerably from those of conventional brachiation robots due...
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