Name
Title | ||
|---|---|---|
Dynamic estimation of homography transformations on the special linear group for visual servo control |
Abstract | ||
|---|---|---|
In the last decade, many vision-based robot controllers have been designed using Cartesian information encoded in the homography transformation that links two images of a planar object. For any approach, the performance of the closed-loop system depends on the quality of the homography estimates obtained. In this paper, we exploit the special linear Lie-group structure of the set of all homographies to develop a dynamic observer to estimate homographies on-line. The resulting estimates are effective and can be used to improve closed-loop response of several visual servoing algorithms. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/ROBOT.2009.5152384 | ICRA |
Keywords | Field | DocType |
closed-loop response,homography transformation,special linear lie-group structure,vision-based robot controller,cartesian information,last decade,visual servo control,dynamic observer,dynamic estimation,planar object,special linear group,visual servoing algorithm,closed-loop system,lie group,visual servoing,mobile robots,helium,visualization,lie groups,data mining,image reconstruction,robot control | Control theory,Control engineering,Homography,Artificial intelligence,Servo control,Homography (computer vision),Cartesian coordinate system,Computer vision,Observability,Visual servoing,Observer (quantum physics),Mathematics,Mobile robot | Conference |
Volume | Issue | ISSN |
2009 | 1 | 1050-4729 |
Citations | PageRank | References |
13 | 0.64 | 16 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ezio Malis | 1 | 1322 | 80.65 |
| Tarek Hamel | 2 | 1168 | 111.88 |
| Robert E. Mahony | 3 | 1691 | 162.83 |
| Pascal Morin | 4 | 136 | 17.08 |