Online Camera Registration for Robot Manipulation

We demonstrate that millimeter-level manipulation accuracy can be achieved without the static camera registration typically required for visual servoing. We register the camera online, converging in seconds, by visually tracking features on the robot and filtering the result. This online registration handles cases such as perturbed camera positions, wear and tear on camera mounts, and even a camera held by a human. We implement the approach on a Schunk LWA4 manipulator and Logitech C920 camera, servoing to target and pre-grasp configurations. Our filtering software is available under a permissive license (Software available at http://github.com/golems/reflex).