Title :
Visual Servoing: Reaching the Desired Location Following a Straight Line via Polynomial Parameterizations
Author :
Chesi, Graziano ; Prattichizzo, Domenico ; Vicino, Antonio
Author_Institution :
Department of Information Engineering University of Siena Via Roma 56, 53100 Siena, Italy; chesi@dii.unisi.it
Abstract :
The problem of establishing if it is possible to reach the desired location keeping all features in the field of view and following a straight line is considered. The proposed approach is based on the polynomial parameterization of the camera path and allows one to find the path that follows a straight line and maximizes the distance of the image trajectories from the screen boundary.
Keywords :
Path planning; Point correspondences; Polynomial trajectory; Straight line; Visual servoing; Cameras; Convergence; Feedback; Navigation; Noise robustness; Path planning; Polynomials; Robot vision systems; Trajectory; Visual servoing; Path planning; Point correspondences; Polynomial trajectory; Straight line; Visual servoing;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570498
