Robust image-based visual servoing using invariant visual information

被引：32

作者：

Tahri, Omar ^{[1
]}

Araujo, Helder ^{[1
]}

Chaumette, Francois ^{[2
]}

Mezouar, Youcef ^{[3
]}

机构：

[1] Inst Syst & Robot, P-3030290 Coimbra, Portugal

[2] INRIA Rennes Bretagne Atlantique, F-35042 Rennes, France

[3] Inst Pascal, Inst Pascal IFMA, F-63000 Clermont Ferrand, France

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2013年 / 61卷 / 12期

关键词：

Robust visual servoing; Spherical projection; POINT; CAMERAS;

D O I：

10.1016/j.robot.2013.06.010

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper deals with the use of invariant visual features for visual servoing. New features are proposed to control the 6 degrees of freedom of a robotic system with better linearizing properties and robustness to noise than the state of the art in image-based visual servoing. We show in this paper that by using these features the behavior of image-based visual servoing in task space can be significantly improved. Several experimental results are provided and validate our proposal. (C) 2013 Elsevier B.V. All rights reserved.

引用

页码：1588 / 1600

页数：13

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