Paper Info
Title
The resolvability ellipsoid for visual servoing
Abstract
This paper introduces a sensor placement measure called resolvability. The measure provides a technique for esti- mating the relative ability of various visual sensors, including monocular systems, stereo pairs, multi-baseline stereo systems, and 3D rangefinders, to accurately control visually manipulated objects. The resolvability ellipsoid illustrates the directional nature of resolvability, and can be used to direct camera motion and adjust camera intrin- sic parameters in real-time so that the servoing accuracy of the visual servoing system improves with camera-lens motion. The Jacobian mapping from task space to sensor space is derived for a monocular system, a stereo pair with parallel optical axes, and a stereo pair with perpendicular optical axes. Resolvability ellipsoids based on these map- pings for various sensor configurations are presented. Visual servoing experiments demonstrate that resolvability can be used to direct camera-lens motion in order to increase the ability of a visually servoed manipulator to precisely servo objects.
Year
DOI
Venue
1994
10.1109/CVPR.1994.323907
Seattle, WA
Keywords
Field
DocType
computer vision,distance measurement,path planning,servomechanisms,stereo image processing,3D rangefinders,Jacobian mapping,camera motion,camera-lens motion,monocular systems,multi-baseline stereo systems,resolvability ellipsoid,sensor placement measure,stereo pairs,visual servoing,visually manipulated objects
Motion planning,Computer vision,Stereo camera,Ellipsoid,Servo,Pattern recognition,Jacobian matrix and determinant,Computer science,Visual servoing,Artificial intelligence,Monocular,Computer stereo vision
Conference
Volume
Issue
ISSN
1994
1
1063-6919
Citations 
PageRank 
References 
22
3.44
3
Authors
2
Name
Order
Citations
PageRank
Bradley J. Nelson11263202.74
Khosla, P.K.2931123.84