A hierarchical vision architecture for robotic manipulation tasks

Zachary Dodds, Martin Jägersand, Greg Hager, Kentaro Toyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Scopus citations


Real world manipulation tasks vary in their demands for precision and freedoms controlled. In particular, during any one task the complexity may vary with time. For a robotic hand-eye system, precise tracking and control of full pose is computationally expensive and less robust than rough tracking of a subset of the pose parameters (e.g. just translation). We present an integrated vision and control system in which the vision component provides (1) the continuous, local feedback at the required complexity for robot manipulation and (2) the discrete state information needed to switch between control modes of differing complexity.

Original languageEnglish (US)
Title of host publicationComputer Vision Systems - 1st International Conference, ICVS 1999, Proceedings
EditorsHenrik I. Christensen
PublisherSpringer Verlag
Number of pages19
ISBN (Print)3540654593, 9783540654599
StatePublished - 1999
Externally publishedYes
Event1st International Conference on Computer Vision Systems, ICVS 1999 - Las Palmas, Spain
Duration: Jan 13 1999Jan 15 1999

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other1st International Conference on Computer Vision Systems, ICVS 1999
CityLas Palmas

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science


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