Learning, Positioning, and Tracking Visual Appearance

The problem of vision-based robot positioning and tracking is addressed. A general learning algorithm is presented for determining the mapping between robot position and object appearance. The robot is first moved through several displacements with respect to its desired position, and a large set of object images is acquired. This image set is compressed using principal component analysis to obtain a low-dimensional subspace. Variations in object images due to robot displacements are represented as a compact parametrized manifold in the subspace. While positioning or tracking, errors in endeffector coordinates are efficiently computed from a single brightness image using the parametric manifold representation. The learning component enables accurate visual control without any prior hand-eye calibration. Several experiments have been conducted to demonstrate the practical feasibility of the proposed positioning/tracking approach and its relevance to industrial applications. Introductio..