DocumentCode
2990575
Title
Simultaneous Stability of Image and Pose Error in Visual Servo Control
Author
Gans, N.R. ; Hu, G. ; Dixon, W.E.
Author_Institution
Dept. of Mech. & Aerosp. Eng, Univ. of Florida, Gainesville, FL
fYear
2008
fDate
3-5 Sept. 2008
Firstpage
438
Lastpage
443
Abstract
A novel visual servo controller is developed in this paper that simultaneously regulates both the camera pose and image errors. This Lyapunov-based controller stabilizes both the entire image and pose error simultaneously. Furthermore, the controller uses adaptive depth estimation to eliminate the need to measure depth or obtain knowledge of the scene.
Keywords
Lyapunov methods; cameras; pose estimation; stability; visual servoing; Lyapunov-based controller; adaptive depth estimation; camera pose; image error; pose error; stability; visual servo control; Cameras; Control systems; Error correction; Gallium nitride; Programmable control; Robot vision systems; Servomechanisms; Servosystems; Stability; Visual servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control, 2008. ISIC 2008. IEEE International Symposium on
Conference_Location
San Antonio, TX
ISSN
2158-9860
Print_ISBN
978-1-4244-2224-1
Electronic_ISBN
2158-9860
Type
conf
DOI
10.1109/ISIC.2008.4635970
Filename
4635970
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