Online multi-camera registration for bimanual workspace trajectories

We demonstrate that millimeter-level bimanual manipulation accuracy can be achieved without the static camera registration typically required for visual servoing. We register multiple cameras online, converging in seconds, by visually tracking features on the robot hands and filtering the result. Then, we compute and track continuous-velocity relative workspace trajectories for the end-effector. We demonstrate the approach using Schunk LWA4 and SDH manipulators and Logitech C920 cameras, showing accurate relative positioning for pen-capping and object hand-off tasks. Our filtering software is available under a permissive license.¹