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Conference Paper: A self-calibrating technique for visual servoing

TitleA self-calibrating technique for visual servoing
Authors
KeywordsEssential Matrix
Optimization
Self-Calibration
Visual Servoing
Issue Date2002
Citation
Proceedings Of The Ieee Conference On Decision And Control, 2002, v. 3, p. 2878-2883 How to Cite?
AbstractIn this paper, a self-calibration procedure which is carried out in parallel to visual servoing algorithms is proposed. Our approach exploits the singular values property of the essential matrix and it is based on the introduction of a suitable cost function and a criterion for minimizing it on-line in order to update the current estimate of the intrinsic parameters. The behaviour of the visual servoing is hence improved for the case of unknown intrinsic parameters since the self-calibration procedure allows the robot control to work closer to the ideal case. Simulation results for position-based, image-based and 2 1/2 D visual servoing show also that the correct estimation of the intrinsic parameters is achieved in few steps of the required ones by the visual servoing algorithm to converge.
Persistent Identifierhttp://hdl.handle.net/10722/158350
ISSN
References

 

DC FieldValueLanguage
dc.contributor.authorChesi, Gen_US
dc.contributor.authorHashimoto, Ken_US
dc.date.accessioned2012-08-08T08:59:11Z-
dc.date.available2012-08-08T08:59:11Z-
dc.date.issued2002en_US
dc.identifier.citationProceedings Of The Ieee Conference On Decision And Control, 2002, v. 3, p. 2878-2883en_US
dc.identifier.issn0191-2216en_US
dc.identifier.urihttp://hdl.handle.net/10722/158350-
dc.description.abstractIn this paper, a self-calibration procedure which is carried out in parallel to visual servoing algorithms is proposed. Our approach exploits the singular values property of the essential matrix and it is based on the introduction of a suitable cost function and a criterion for minimizing it on-line in order to update the current estimate of the intrinsic parameters. The behaviour of the visual servoing is hence improved for the case of unknown intrinsic parameters since the self-calibration procedure allows the robot control to work closer to the ideal case. Simulation results for position-based, image-based and 2 1/2 D visual servoing show also that the correct estimation of the intrinsic parameters is achieved in few steps of the required ones by the visual servoing algorithm to converge.en_US
dc.languageengen_US
dc.relation.ispartofProceedings of the IEEE Conference on Decision and Controlen_US
dc.subjectEssential Matrixen_US
dc.subjectOptimizationen_US
dc.subjectSelf-Calibrationen_US
dc.subjectVisual Servoingen_US
dc.titleA self-calibrating technique for visual servoingen_US
dc.typeConference_Paperen_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.scopuseid_2-s2.0-0036993709en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-0036993709&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume3en_US
dc.identifier.spage2878en_US
dc.identifier.epage2883en_US
dc.identifier.scopusauthoridChesi, G=7006328614en_US
dc.identifier.scopusauthoridHashimoto, K=35431244800en_US

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