Visual servoing along epipoles

被引：0
|
作者：
Piazzi, J [1 ]
Prattichizzo, D [1 ]
Vicino, A [1 ]
机构：
[1] Univ Siena, Dipartimento Ingn Informaz, I-53100 Siena, Italy
来源：
CONTROL PROBLEMS IN ROBOTICS | 2003年 / 4卷
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A visual servoing algorithm for hand-eye robotic system based on epipolar geometry is proposed. The control law is based on the estimation of the epipoles position obtained by points correspondences extracted from the current and target images. The camera-robot motion is computed from the observation of the epipoles coordinates. Only the principal camera point is assumed to be known but not the other intrinsic parameters. Experimental results are reported to validate the visual servoing algorithm proposed.
引用
收藏
页码：215 / 231
页数：17
相关论文
共 50 条
  • [21] Visual Servoing of Legged Robots
    Echegoyen, Z.
    Lopez-Guede, J. M.
    Fernandez-Gauna, B.
    Grana, M.
    JOURNAL OF MATHEMATICAL IMAGING AND VISION, 2012, 42 (2-3) : 196 - 211
  • [22] Visual servoing on unknown objects
    Gratal, Xavi
    Romero, Javier
    Bohg, Jeannette
    Kragic, Danica
    MECHATRONICS, 2012, 22 (04) : 423 - 435
  • [23] Toward geometric visual servoing
    Cowan, NJ
    Chang, DE
    CONTROL PROBLEMS IN ROBOTICS, 2003, 4 : 233 - 247
  • [24] Measurement errors in visual servoing
    Kyrki, V
    Kragic, D
    Christensen, HI
    2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, : 1861 - 1867
  • [25] Depth Invariant Visual Servoing
    Karasev, Peter A.
    Serrano, Miguel Moises
    Vela, Patricio A.
    Tannenbaum, Allen
    2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC), 2011, : 4992 - 4998
  • [26] Visual servoing from lines
    Andreff, N
    Espiau, B
    Horaud, R
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2002, 21 (08): : 679 - 699
  • [27] Visual Servoing With Trifocal Tensor
    Zhang, Kaixiang
    Chen, Jian
    Chaumette, Francois
    2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2018, : 2334 - 2340
  • [28] Special issue on visual servoing
    Christensen, HI
    Corke, P
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2003, 22 (10-11): : 779 - 780
  • [29] Recent results in visual servoing
    Chaumette, Francois
    INTELLIGENT SYSTEMS AND AUTOMATION, 2008, 1019 : 575 - 575
  • [30] Visual Servoing in Orchard Settings
    Hani, Nicolai
    Isler, Volkan
    2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016), 2016, : 2946 - 2953
12345