We have done an experimental evaluation of the view synthesis method,
learning a model for the visual appearance changes of a PUMA 760 robot
when controlled from either a joint or world coordinate space, and of
a human arm. First
we compare the pros and cons of the two visual front ends we
described. In the next section we discuss viewing quality and
positioning accuracy
tradeoffs made in the estimation of the visual-motor model
.
In Section. 6.7 we describe a visual PUMA robot
simulator we have constructed
from the components. The simulator we describe can be run without a robot, and
is available by ftp. Last we evaluate how the method scales when
we increase the controlled DOF's of the system, or want better
image quality from the synthesis.
Electronic m-peg videos of the demonstrations in this section are accessible through the Internet WWW. To view the videos corresponding to figures marked Video # use the menu in:
http://www.cs.rochester.edu/u/jag/SimAct/videos.html