{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,4,2]],"date-time":"2022-04-02T12:25:17Z","timestamp":1648902317865},"reference-count":6,"publisher":"MIT Press - Journals","issue":"4","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Presence: Teleoperators &amp; Virtual Environments"],"published-print":{"date-parts":[[2004,8]]},"abstract":"<jats:p> Applications of vision-based remotely operated robotic systems range from planetary exploration to hazardous waste remediation. For space applications, where communication time lags are large, the target selection and robot positioning tasks may be performed sequentially, differing from conventional telerobotic maneuvers. For these point-and-move systems, the desired target must be defined in the image plane of the cameras either by an operator or through image processing software. Ambiguity of the target specification will naturally lead to end-effector positioning errors. In this paper, the target specification error covariance is shown to transform linearly to the end-effector positioning error. In addition, a methodology for optimal estimation of camera-view parameters of a vision-based robotic system based on target specification errors is presented. The proposed strategy is based on minimizing the end-effector error covariance matrix. Experimental results are presented demonstrating an increase in end-effector positioning, compared to traditional view parameter estimation by up to 32%. <\/jats:p>","DOI":"10.1162\/1054746041944795","type":"journal-article","created":{"date-parts":[[2004,9,20]],"date-time":"2004-09-20T21:23:33Z","timestamp":1095715413000},"page":"385-394","source":"Crossref","is-referenced-by-count":0,"title":["Desensitization of Camera-Aided Manipulation to Target Specification Errors"],"prefix":"10.1162","volume":"13","author":[{"given":"Haluk","family":"K\u00fc\u00e7\u00fck","sequence":"first","affiliation":[{"name":"Ni\u011fde \u00dcniversitesi, Aksaray M\u00fchendislik Fak\u00fcltesi, Konya Yolu, 68100, Aksaray, Turkey,"}]},{"given":"Gordon G.","family":"Parker","sequence":"additional","affiliation":[{"name":"Mechanical Engineering\u2013Engineering, Mechanics Department, Michigan Technological University 1400 Townsend Drive, Houghton, MI 49931-1295,"}]},{"given":"Eric T.","family":"Baumgartner","sequence":"additional","affiliation":[{"name":"Senior Member of Engineering Staff, Mechanical and Robotic, Technologies Group, Science and Technology, Development Section, Jet Propulsion Laboratory, California Institute of Technology 4800 Oak Grove Drive, Pasadena, CA 91109-8099,"}]},{"given":"Nicholas A.","family":"Klymyshyn","sequence":"additional","affiliation":[{"name":"Battelle, Pacific Northwest Laboratory, P.O. Box 999\/K5-22, Richland, WA 99352,"}]}],"member":"281","reference":[{"key":"p_5","first-page":"1351","author":"Nelson B.","year":"1994","journal-title":"Proceedings of the IEEE International Conference on Robotics and Automation"},{"key":"p_7","first-page":"162","author":"Sharma R.","year":"1994","journal-title":"Proceedings of the IEEE International Conference on Robotics and Automation"},{"key":"p_8","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600402"},{"key":"p_9","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900402"},{"key":"p_10","first-page":"203","volume":"2","author":"Skaar S. B.","year":"1991","journal-title":"Advances in Design Automation"},{"key":"p_12","doi-asserted-by":"publisher","DOI":"10.1109\/70.149945"}],"container-title":["Presence: Teleoperators and Virtual Environments"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mitpressjournals.org\/doi\/pdf\/10.1162\/1054746041944795","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,3,12]],"date-time":"2021-03-12T21:28:06Z","timestamp":1615584486000},"score":1,"resource":{"primary":{"URL":"https:\/\/direct.mit.edu\/pvar\/article\/13\/4\/385-394\/18519"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2004,8]]},"references-count":6,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2004,8,1]]}},"alternative-id":["10.1162\/1054746041944795"],"URL":"https:\/\/doi.org\/10.1162\/1054746041944795","relation":{},"ISSN":["1054-7460"],"issn-type":[{"value":"1054-7460","type":"print"}],"subject":[],"published":{"date-parts":[[2004,8]]}}}