Robot motion simulation with eigen space method

Proposes a technique of robot motion simulation with imaged-based view synthesis. An eigen space method is used to acquire appearance representations of images, which can capture all possible variations in object shape, surface reflection, illumination etc. According to the given robot joint positions, the trajectory in the joint space is first planned to generate a joint sequence, and the image sequence of the robot motion is synthesized directly from reference images, not requiring a priori a CAD model or any calibration. Virtual motion results of the robot UP6 are demonstrated.