DocumentCode :
3106689
Title :
A visual servoing technique for large displacements
Author :
Chesi, Graziano ; Vicino, Antonio
Author_Institution :
Dipt. di Ingegneria dell´´Informazione, Siena Univ., Italy
Volume :
2
fYear :
2004
fDate :
April 26-May 1, 2004
Firstpage :
1855
Abstract :
A new visual servoing technique consisting of generating circular-like trajectories is proposed which does not require either geometrical models of the object or points depth. For calibrated camera, the object is kept in the field of view and global stability is achieved. Then, necessary and sufficient conditions are provided for establishing tolerable errors on the estimates of the intrinsic and extrinsic parameters in order to guarantee robust field of view and robust local stability. Simulation results show that the translational trajectories obtained in presence of large displacements are significantly shorter than those produced by one of the best existing methods, in both cases of correct and bad calibration. Very satisfactory results are obtained also in presence of small displacements.
Keywords :
cameras; image motion analysis; parameter estimation; position control; robot vision; robust control; camera; circular-like trajectories; extrinsic parameter estimation; geometrical models; global stability; intrinsic parameter estimation; necessary conditions; robust local stability; sufficient conditions; visual servoing technique; Adaptive control; Calibration; Cameras; Navigation; Path planning; Robot vision systems; Robust stability; Solid modeling; Sufficient conditions; Visual servoing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN :
1050-4729
Print_ISBN :
0-7803-8232-3
Type :
conf
DOI :
10.1109/ROBOT.2004.1308094
Filename :
1308094
Link To Document :
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