CHAPTER 16
PerceptionBased Manipulation
CONTENTS
16.1 Extrinsic camera calibration
16.2 Integrated perception and manipulation
INTRODUCTION
Before developing mobile manipulation, we first consider combining perception and manipulation. Combining perception and manipulation also requires hand–eye calibration, and thus extrinsic camera calibration is discussed first.
16.1 Extrinsic camera calibration
Performing perception-based manipulation requires camera calibration. Intrinsic camera calibration was presented in Section 6.2. In addition, extrinsic camera calibration must be performed to establish the kinematic transform between a reference frame on the robot and the reference frame of the sensor. With good extrinsic calibration, ...
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