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6.3 Experiments with View Synthesis

 

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 tex2html_wrap_inline4342 . 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



Martin Jägersand