Title :
A Hessian approach to visual servoing
Author :
Lapresté, J.T. ; Mezouar, Y.
Author_Institution :
Universite Blaise Pascal, France
fDate :
28 Sept.-2 Oct. 2004
Abstract :
The paper presents a method for estimating the control matrix in visual servoing using approximation up to the second order of the projection function. The classical approach simply uses the first order terms (inverse of the interaction matrix). The resulting control matrix is shown to perform much better than the classical one. Peculiarly, translation are made almost completely independent of z rotations, allowing better spatial trajectories. Theoretical insight as well as comparisons in the domain of visual servoing are provided to demonstrate this assertion.
Keywords :
Hessian matrices; image motion analysis; robots; Hessian approach; control matrix; projection function; visual servoing; Cameras; Convergence; Error correction; Feedback control; Jacobian matrices; Power system modeling; Robot sensing systems; Robot vision systems; Servomechanisms; Visual servoing;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389483