Swept volumes and their use in viewpoint computation in robot work-cells
Steven Abrams; Peter K. Allen
- Swept volumes and their use in viewpoint computation in robot work-cells
Allen, Peter K.
- Computer Science
- Permanent URL:
- Book/Journal Title:
- IEEE International Symposium on Assembly and Task Planning: Proceedings, August 10-11, 1995, Pittsburgh, Pennsylvania
- Publisher Location:
- Piscataway, N.J.
- This paper discusses the automatic computation of viewpoints for monitoring objects and features in an active robot work-cell. An important step in the authors' algorithm for finding viewpoints is the computation of the volumes swept by polyhedral objects moving through space. A method for approximating these volumes for arbitrarily moving polyhedra is presented. Some swept volume results are presented and methods for integrating these results into the authors' automated machine vision planning (MVP) system are discussed.
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