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1.3 Contributions

This thesis is an extended version of several conference articles, primarily [Jägersand and Nelson, 1994, Jägersand and Nelson, 1995, Jägersand, 1996, Jägersand et al., 1997, Jägersand, 1997]. The main contributions lie in three areas:

  1. We integrate visual-motor model exploration and visual simulation capabilities into the manipulation system. This extends visual servoing techniques into the active vision field.
  2. We present an extensive experimental evaluation of visual servoing positioning precision and convergence, both with and without on-line model acquisition.
  3. We show how to solve complex, real-world manipulation problems in the uncalibrated framework. At the high level, task specification and trajectory planning is done in visual space rather than 3D world space. On the low (control) level, the manipulation is carried out by combining different types of visual servoing.


Martin Jägersand