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Article: Optimal object configurations to minimize the positioning error in visual servoing

TitleOptimal object configurations to minimize the positioning error in visual servoing
Authors
KeywordsImage noise
Positioning error
Visual servoing
Issue Date2010
PublisherIEEE.
Citation
Ieee Transactions On Robotics, 2010, v. 26 n. 3, p. 584-589 How to Cite?
AbstractImage noise unavoidably affects the available image points that are used in visual-servoing schemes to steer a robot end-effector toward a desired location. As a consequence, letting the image points in the current view converge to those in the desired view does not ensure that the camera converges accurately to the desired location. This paper investigates the selection of object configurations to minimize the worst-case positioning error due to the presence of image noise. In particular, a strategy based on linear matrix inequalities (LMIs) and barrier functions is proposed to compute upper and lower bounds of this error for a given maximum error of the image points. This strategy can be applied to problems such as selecting an optimal subset of object points or determining an optimal position of an object in the scene. Some examples illustrate the use of the proposed strategy in such problems. © 2010 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/129203
ISSN
2015 Impact Factor: 2.028
2015 SCImago Journal Rankings: 2.884
ISI Accession Number ID
Funding AgencyGrant Number
Research Grants Council of Hong KongHKU711208E
Funding Information:

Manuscript received July 28, 2009; revised November 30, 2009; accepted March 15, 2010. Date of publication April 12, 2010; date of current version June 9, 2010. This paper was recommended for publication by Associate Editor D. Kragic and Editor G. Oriolo upon evaluation of the reviewers' comments. This work was supported in part by the Research Grants Council of Hong Kong under Grant HKU711208E. This paper was presented in part at the International Conference on Robotics and Automation, Kobe, Japan, 2009.

References

 

DC FieldValueLanguage
dc.contributor.authorChesi, Gen_HK
dc.date.accessioned2010-12-23T08:33:34Z-
dc.date.available2010-12-23T08:33:34Z-
dc.date.issued2010en_HK
dc.identifier.citationIeee Transactions On Robotics, 2010, v. 26 n. 3, p. 584-589en_HK
dc.identifier.issn1552-3098en_HK
dc.identifier.urihttp://hdl.handle.net/10722/129203-
dc.description.abstractImage noise unavoidably affects the available image points that are used in visual-servoing schemes to steer a robot end-effector toward a desired location. As a consequence, letting the image points in the current view converge to those in the desired view does not ensure that the camera converges accurately to the desired location. This paper investigates the selection of object configurations to minimize the worst-case positioning error due to the presence of image noise. In particular, a strategy based on linear matrix inequalities (LMIs) and barrier functions is proposed to compute upper and lower bounds of this error for a given maximum error of the image points. This strategy can be applied to problems such as selecting an optimal subset of object points or determining an optimal position of an object in the scene. Some examples illustrate the use of the proposed strategy in such problems. © 2010 IEEE.en_HK
dc.languageengen_US
dc.publisherIEEE.-
dc.relation.ispartofIEEE Transactions on Roboticsen_HK
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.rightsIEEE Transactions on Robotics. Copyright © IEEE.-
dc.rights©2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.-
dc.subjectImage noiseen_HK
dc.subjectPositioning erroren_HK
dc.subjectVisual servoingen_HK
dc.titleOptimal object configurations to minimize the positioning error in visual servoingen_HK
dc.typeArticleen_HK
dc.identifier.openurlhttp://library.hku.hk:4550/resserv?sid=HKU:IR&issn=1552-3098&volume=26&issue=3&spage=584&epage=589&date=2010&atitle=Optimal+Object+Configurations+For+Minimizing+the+Positioning+Error+in+Visual+Servoing-
dc.identifier.emailChesi, G:chesi@eee.hku.hken_HK
dc.identifier.authorityChesi, G=rp00100en_HK
dc.description.naturepublished_or_final_version-
dc.identifier.doi10.1109/TRO.2010.2046071en_HK
dc.identifier.scopuseid_2-s2.0-77953189619en_HK
dc.identifier.hkuros176760en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-77953189619&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.volume26en_HK
dc.identifier.issue3en_HK
dc.identifier.spage584en_HK
dc.identifier.epage589en_HK
dc.identifier.isiWOS:000278541600016-
dc.publisher.placeUnited Statesen_HK
dc.identifier.scopusauthoridChesi, G=7006328614en_HK
dc.identifier.citeulike9666977-

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