Paper Info
Title
Performance And Sensitivity In Visual Servoing
Abstract
This paper describes the relationship between the control performance a?ld the number/configuration of the image features in feature-based visual servoing. The performance is evaluated by two ways: accuracy and speed. A quantitive definition of the sensitivity is given and the relationship among the sensitivity, the speed of convergence and the accuracy are discussed by using image Jacobian. It is proved that these performance indices are increased effectively by using a point with different height. Experiments on Puma 560 are given to show the validity of these performance measures.
Year
DOI
Venue
1998
10.1109/ROBOT.1998.680669
1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4
Keywords
Field
DocType
image features,performance indicator,convergence,visual servoing,accuracy,sensitivity,least squares approximation,mechanical engineering,robustness,image recognition,stability,optimal control
Convergence (routing),Computer vision,Robot vision,Optimal control,Jacobian matrix and determinant,Feature (computer vision),Control theory,Control engineering,Visual servoing,Artificial intelligence,Mathematics
Conference
ISSN
Citations 
PageRank 
1050-4729
8
0.86
References 
Authors
8
2
Name
Order
Citations
PageRank
Koichi Hashimoto134858.26
Toshiro Noritsugu29229.49