Visual Servo of a 6-DOF Robotic Stereo Flexible Endoscope Based on da Vincix Research Kit (dVRK) System.
Xin MaChengzhi SongPhilip Wai Yan ChiuZheng LiPublished in: IEEE Robotics Autom. Lett. (2020)
Keyphrases
- degrees of freedom
- robotic arm
- control loop
- low level
- computer vision
- robotic manipulator
- visual information
- real time
- three dimensional
- motion planning
- stereo vision
- time of flight
- stereo images
- visual features
- early vision
- stereo camera
- image pairs
- multi camera
- robotic systems
- mobile robot
- depth map
- control scheme
- particle swarm optimization
- stereo matching
- path planning
- control system
- image matching
- parallel robot