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Article: Optimal object configurations to minimize the positioning error in visual servoing
| Title | Optimal object configurations to minimize the positioning error in visual servoing | ||||
|---|---|---|---|---|---|
| Authors | |||||
| Keywords | Image noise Positioning error Visual servoing | ||||
| Issue Date | 2010 | ||||
| Publisher | IEEE. | ||||
| Citation | Ieee Transactions On Robotics, 2010, v. 26 n. 3, p. 584-589 How to Cite? | ||||
| Abstract | Image 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 Identifier | http://hdl.handle.net/10722/129203 | ||||
| ISSN | 2023 Impact Factor: 9.4 2023 SCImago Journal Rankings: 3.669 | ||||
| ISI Accession Number ID |
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 Field | Value | Language |
|---|---|---|
| dc.contributor.author | Chesi, G | en_HK |
| dc.date.accessioned | 2010-12-23T08:33:34Z | - |
| dc.date.available | 2010-12-23T08:33:34Z | - |
| dc.date.issued | 2010 | en_HK |
| dc.identifier.citation | Ieee Transactions On Robotics, 2010, v. 26 n. 3, p. 584-589 | en_HK |
| dc.identifier.issn | 1552-3098 | en_HK |
| dc.identifier.uri | http://hdl.handle.net/10722/129203 | - |
| dc.description.abstract | Image 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.language | eng | en_US |
| dc.publisher | IEEE. | - |
| dc.relation.ispartof | IEEE Transactions on Robotics | en_HK |
| 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.subject | Image noise | en_HK |
| dc.subject | Positioning error | en_HK |
| dc.subject | Visual servoing | en_HK |
| dc.title | Optimal object configurations to minimize the positioning error in visual servoing | en_HK |
| dc.type | Article | en_HK |
| dc.identifier.openurl | http://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.email | Chesi, G:chesi@eee.hku.hk | en_HK |
| dc.identifier.authority | Chesi, G=rp00100 | en_HK |
| dc.description.nature | published_or_final_version | - |
| dc.identifier.doi | 10.1109/TRO.2010.2046071 | en_HK |
| dc.identifier.scopus | eid_2-s2.0-77953189619 | en_HK |
| dc.identifier.hkuros | 176760 | en_US |
| dc.relation.references | http://www.scopus.com/mlt/select.url?eid=2-s2.0-77953189619&selection=ref&src=s&origin=recordpage | en_HK |
| dc.identifier.volume | 26 | en_HK |
| dc.identifier.issue | 3 | en_HK |
| dc.identifier.spage | 584 | en_HK |
| dc.identifier.epage | 589 | en_HK |
| dc.identifier.isi | WOS:000278541600016 | - |
| dc.publisher.place | United States | en_HK |
| dc.identifier.scopusauthorid | Chesi, G=7006328614 | en_HK |
| dc.identifier.citeulike | 9666977 | - |
| dc.identifier.issnl | 1552-3098 | - |