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Article: Visual servoing for large camera displacements

TitleVisual servoing for large camera displacements
Authors
Issue Date2004
Citation
Ieee Transactions On Robotics And Automation, 2004, v. 20 n. 4, p. 724-735 How to Cite?
AbstractThe first aim of any visual-servoing strategy is to avoid features being lost from the field of view and that the desired location may not be reached. However, avoiding both these system failures turns out to be very difficult, especially when the initial and desired locations are distant. Moreover, the methods that succeed in presence of large camera displacements often produce a long translational trajectory that may not be allowed by the robot workspace and/or joint limits. In this paper, a new strategy for dealing with such problems is proposed, which consists of generating circular-like trajectories that may satisfy the task requirements more naturally than other solutions. Knowledge of geometrical models of the object or points depth is not required. It is shown that system failures are avoided for a calibrated camera. Moreover, necessary and sufficient conditions are provided for establishing tolerable errors on the estimates of the intrinsic and extrinsic parameters, in order to guarantee a robust field of view and robust local asymptotic stability. Several simulation results show that the translational trajectories obtained in presence of large displacements are significantly shorter than those produced by the existing methods, in cases of both correct and bad camera calibration. Very satisfactory results are achieved also in presence of small displacements. © 2004 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/155464
ISSN
2004 Impact Factor: 2.126
2007 SCImago Journal Rankings: 2.436
ISI Accession Number ID
References

 

DC FieldValueLanguage
dc.contributor.authorChesi, Gen_US
dc.contributor.authorVicino, Aen_US
dc.date.accessioned2012-08-08T08:33:38Z-
dc.date.available2012-08-08T08:33:38Z-
dc.date.issued2004en_US
dc.identifier.citationIeee Transactions On Robotics And Automation, 2004, v. 20 n. 4, p. 724-735en_US
dc.identifier.issn1042-296Xen_US
dc.identifier.urihttp://hdl.handle.net/10722/155464-
dc.description.abstractThe first aim of any visual-servoing strategy is to avoid features being lost from the field of view and that the desired location may not be reached. However, avoiding both these system failures turns out to be very difficult, especially when the initial and desired locations are distant. Moreover, the methods that succeed in presence of large camera displacements often produce a long translational trajectory that may not be allowed by the robot workspace and/or joint limits. In this paper, a new strategy for dealing with such problems is proposed, which consists of generating circular-like trajectories that may satisfy the task requirements more naturally than other solutions. Knowledge of geometrical models of the object or points depth is not required. It is shown that system failures are avoided for a calibrated camera. Moreover, necessary and sufficient conditions are provided for establishing tolerable errors on the estimates of the intrinsic and extrinsic parameters, in order to guarantee a robust field of view and robust local asymptotic stability. Several simulation results show that the translational trajectories obtained in presence of large displacements are significantly shorter than those produced by the existing methods, in cases of both correct and bad camera calibration. Very satisfactory results are achieved also in presence of small displacements. © 2004 IEEE.en_US
dc.languageengen_US
dc.relation.ispartofIEEE Transactions on Robotics and Automationen_US
dc.titleVisual servoing for large camera displacementsen_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.2004.829465en_US
dc.identifier.scopuseid_2-s2.0-4344586948en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-4344586948&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume20en_US
dc.identifier.issue4en_US
dc.identifier.spage724en_US
dc.identifier.epage735en_US
dc.identifier.isiWOS:000223187200009-
dc.publisher.placeUnited Statesen_US
dc.identifier.scopusauthoridChesi, G=7006328614en_US
dc.identifier.scopusauthoridVicino, A=7006250298en_US

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