Paper Info
Title
A New Approach to Vision-based Robot Control with Omni-directional Cameras
Abstract
In the last decade, research on vision-based robot control has been concentrated on two main issues: the narrow field of view of the conventional camera and the model de- pendency of the standard visual servoing approaches. In this paper, we propose a simple and elegant solution to these issues. To enlarge the field of view of the cameras, we use omni- directional cameras. And to overcome the model dependency problem, we propose a new visual servoing method for omni- directional cameras that does not need any measure of the 3D structure of the observed target with respect to which the visual servoing is performed. Only visual information measured from the reference and the current images are needed in order to compute a task function isomorphic to the camera pose and to compute the control law to be applied to the robot. We provide the theoretical proof of the existence of the isomorphism and the theoretical proof of the local stability of the control law.
Year
DOI
Venue
2006
10.1109/ROBOT.2006.1641764
ICRA
Keywords
Field
DocType
control engineering computing,image motion analysis,image sensors,robots,stability,local stability,model dependency problem,omni-directional cameras,vision-based robot control,visual servoing
Field of view,Omni directional,Robot control,Computer vision,Omnidirectional antenna,Image sensor,Computer science,Control engineering,Isomorphism,Visual servoing,Artificial intelligence,Robot
Conference
ISSN
Citations 
PageRank 
1050-4729
7
0.53
References 
Authors
17
2
Name
Order
Citations
PageRank
Selim Benhimane147532.79
Ezio Malis2132280.65