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Active, uncalibrated visual servoing

Billibon Yoshimi; Peter K. Allen

Title:
Active, uncalibrated visual servoing
Author(s):
Yoshimi, Billibon
Allen, Peter K.
Date:
Type:
Articles
Department:
Computer Science
Permanent URL:
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
Publisher DOI:
http://dx.doi.org/10.1109/ROBOT.1994.350995
Item views:
67
Metadata:
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