SYSTEMS AND METHODS FOR OPERATING ROBOTS USING VISUAL SERVOING
First Claim
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1. A method for providing visual based, intuitive control comprising:
- moving one or more elements on a device;
measuring the movement of the one or more elements physically with one or more movement sensors mounted on the one or more elements;
measuring the movement of the one or more elements visually with one or more visual based sensors;
comparing the measurement from the one or more movement sensors to the measurement from the one or more visual based sensors to create a control map; and
inverting the control map to provide visual based control of the device.
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Abstract
A system and method for providing intuitive, visual based remote control is disclosed. The system can comprise one or more cameras disposed on a remote vehicle. A visual servoing algorithm can be used to interpret the images from the one or more cameras to enable the user to provide visual based inputs. The visual servoing algorithm can then translate that commanded motion into the desired motion at the vehicle level. The system can provide correct output regardless of the relative position between the user and the vehicle and does not require any previous knowledge of the target location or vehicle kinematics.
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13 Claims
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1. A method for providing visual based, intuitive control comprising:
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moving one or more elements on a device; measuring the movement of the one or more elements physically with one or more movement sensors mounted on the one or more elements; measuring the movement of the one or more elements visually with one or more visual based sensors; comparing the measurement from the one or more movement sensors to the measurement from the one or more visual based sensors to create a control map; and inverting the control map to provide visual based control of the device. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A system for providing visual based, intuitive control comprising:
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a device comprising one or more moveable elements each element capable of translation, rotation, or both, and each element comprising one or more movement sensors for physically measuring the movement of the element; one or more image sensors for visually measuring the movement of the one or more elements; and a computer processor for; receiving physical movement data from the one or more movement sensors; receiving visual movement data from the one or more image sensors; comparing the physical movement data to the visual movement data to create a control map; and inverting the control map to provide visual based control of the device. - View Dependent Claims (9, 10, 11, 12, 13)
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Specification