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
收藏
页码：1588 / 1600
页数：13
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