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Article: Keeping features in the field of view in eye-in-hand visual servoing: A switching approach

TitleKeeping features in the field of view in eye-in-hand visual servoing: A switching approach
Authors
Chesi, GHashimoto, KPrattichizzo, DVicino, A
KeywordsField Of View
Point Correspondences
Switching Control
Visual Servoing
Issue Date2004
Citation
Ieee Transactions On Robotics, 2004, v. 20 n. 5, p. 908-913 How to Cite?
DOI: http://dx.doi.org/10.1109/TRO.2004.829456
AbstractA visual servoing strategy for keeping features in the field of view is proposed which consists of a switching among position-based control strategies and backward motion. In the absence of uncertainty on the extrinsic parameters, all features are kept in the field of view. Moreover, if the intrinsic parameters are also known, the trajectory length is minimized in the rotational space and, for some cases, also minimized in the translational space. Simulation results also show a certain degree of robustness against uncertainty on the intrinsic parameters. © 2004 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/155241
ISSN
1552-3098
2023 Impact Factor: 9.4
2023 SCImago Journal Rankings: 3.669
ISI Accession Number ID
WOS:000224478500011
References
References in Scopus

 

DC FieldValueLanguage
dc.contributor.authorChesi, Gen_US
dc.contributor.authorHashimoto, Ken_US
dc.contributor.authorPrattichizzo, Den_US
dc.contributor.authorVicino, Aen_US
dc.date.accessioned2012-08-08T08:32:30Z-
dc.date.available2012-08-08T08:32:30Z-
dc.date.issued2004en_US
dc.identifier.citationIeee Transactions On Robotics, 2004, v. 20 n. 5, p. 908-913en_US
dc.identifier.issn1552-3098en_US
dc.identifier.urihttp://hdl.handle.net/10722/155241-
dc.description.abstractA visual servoing strategy for keeping features in the field of view is proposed which consists of a switching among position-based control strategies and backward motion. In the absence of uncertainty on the extrinsic parameters, all features are kept in the field of view. Moreover, if the intrinsic parameters are also known, the trajectory length is minimized in the rotational space and, for some cases, also minimized in the translational space. Simulation results also show a certain degree of robustness against uncertainty on the intrinsic parameters. © 2004 IEEE.en_US
dc.languageengen_US
dc.relation.ispartofIEEE Transactions on Roboticsen_US
dc.subjectField Of Viewen_US
dc.subjectPoint Correspondencesen_US
dc.subjectSwitching Controlen_US
dc.subjectVisual Servoingen_US
dc.titleKeeping features in the field of view in eye-in-hand visual servoing: A switching approachen_US
dc.typeArticleen_US
dc.identifier.emailChesi, G:chesi@eee.hku.hken_US
dc.identifier.authorityChesi, G=rp00100en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.doi10.1109/TRO.2004.829456en_US
dc.identifier.scopuseid_2-s2.0-10244225209en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-10244225209&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume20en_US
dc.identifier.issue5en_US
dc.identifier.spage908en_US
dc.identifier.epage913en_US
dc.identifier.isiWOS:000224478500011-
dc.publisher.placeUnited Statesen_US
dc.identifier.scopusauthoridChesi, G=7006328614en_US
dc.identifier.scopusauthoridHashimoto, K=35431244800en_US
dc.identifier.scopusauthoridPrattichizzo, D=7004048807en_US
dc.identifier.scopusauthoridVicino, A=7006250298en_US
dc.identifier.issnl1552-3098-

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