Name
Abstract | ||
|---|---|---|
In the recent past, the visibility problem in vision-based control has been widely investigated. The proposed solutions generally have a common goal: to always keep the object in the camera's field of view during the visual servoing. Contrary to this solution, we propose a new approach based on the concept of allowing the changes of visibility in image features during the control task. To this aim, the camera invariant visual-servoing approach has been redefined in order to take into account the changes of visibility in image features. A new smooth task function using weighted features is presented, and a continuous control law is obtained starting from it by imposing its exponential decrease to zero. Furthermore, the local stability analysis of the invariant visual-servoing approach with weighted features is presented. Finally, this promising way of dealing with the visibility issue has been successfully tested with an eye-in-hand robotic system. |
Year | DOI | Venue |
|---|---|---|
2005 | 10.1109/TRO.2005.855995 | IEEE Transactions on Robotics |
Keywords | Field | DocType |
end effectors,image motion analysis,robot vision,stability,camera invariant visual servoing,continuous visual servoing,eye in hand robotic system,image feature,local stability analysis,visibility,Control,invariant visual servoing,robot vision systems,stability analysis | Field of view,Computer vision,Visibility,Weight function,Feature (computer vision),Control engineering,Robot end effector,Visual servoing,Invariant (mathematics),Artificial intelligence,Smoothness,Mathematics | Journal |
Volume | Issue | ISSN |
21 | 6 | 1552-3098 |
Citations | PageRank | References |
41 | 1.67 | 10 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Nicolás García | 1 | 88 | 16.64 |
| Ezio Malis | 2 | 1322 | 80.65 |
| Aracil-Santonja, R. | 3 | 41 | 1.67 |
| Perez-Vidal, C. | 4 | 41 | 1.67 |