Title:

Active, uncalibrated visual servoing

Author(s):

Yoshimi, Billibon
Allen, Peter K.

Date:

1994

Type:

Articles

Department:

Computer Science

Permanent URL:

http://hdl.handle.net/10022/AC:P:15237

Book/Journal Title:

Proceedings : 1994 IEEE International Conference on Robotics and Automation, May 8-13, 1994, San Diego, California

Publisher:

IEEE

Publisher Location:

Piscataway, N.J.

Abstract:

Proposes a method for visual control of a robotic system which does not require the formulation of an explicit calibration between image space and the world coordinate system. Calibration is known to be a difficult and error prone process. By extracting control information directly from the image, the authors free their technique from the errors normally associated with a fixed calibration. The authors demonstrate this by performing a peg-in-hole alignment using an uncalibrated camera to control the positioning of the peg. The algorithm utilizes feedback from a simple geometric effect, rotational invariance, to control the positioning servo loop. The method uses an approximation to the image Jacobian to provide smooth, near-continuous control.

Subject(s):

Robotics

DOI:

http://dx.doi.org/10.1109/ROBOT.1994.350995

Item views:

55

Metadata:

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