Name
Abstract | ||
|---|---|---|
We investigate the exploitation of linear models of camera-object interaction for an efficient modeling and control of image-based visual servoing systems. The approach includes a method for coping with those representation ambiguities typical of Linear interaction models which may affect both planning and control. The implementation of an eye-in-hand servoing system based on affine camera models and using image contours as relevant visual features is described and discussed. The system, including an image planner, a two-dimensional/three-dimensional (2-D/3-D) controller, and a visual analysis module, allows an intuitive specification and execution of relative positioning tasks w.r.t. still or moving rigid objects. Results of real-time experiments with a robotic platform featuring a PUMA manipulator provide a further insight into characteristics and performance of affine visual servoing systems. |
Year | DOI | Venue |
|---|---|---|
1999 | 10.1109/70.760357 | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION |
Keywords | Field | DocType |
affine interaction models, eye-in-hand systems, visual servoing | Affine transformation,Computer vision,Control theory,Robot vision,Linear model,Computer science,Manipulator,Robustness (computer science),Control engineering,Visual servoing,Artificial intelligence,Control system | Journal |
Volume | Issue | ISSN |
15 | 2 | 1042-296X |
Citations | PageRank | References |
9 | 0.65 | 15 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Benedetto Allotta | 1 | 244 | 53.74 |
| Carlo Colombo | 2 | 633 | 52.34 |