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Conference Paper: A switching control law for keeping features in the field of view in eye-in-hand visual servoing

TitleA switching control law for keeping features in the field of view in eye-in-hand visual servoing
Authors
KeywordsField Of View
Point Correspondences
Switching Control
Visual Servoing
Issue Date2003
Citation
Proceedings - Ieee International Conference On Robotics And Automation, 2003, v. 3, p. 3929-3934 How to Cite?
AbstractIn this paper, a visual servoing strategy for dealing with the problem of keeping the observed points in the camera field of view is proposed. The approach consists of a switching control law based on camera displacement estimation and regulated from the position of the points in the image. In absence of uncertainties on the intrinsic parameters and optical axis direction, global stability is achieved and all points are kept in the field of view. Moreover, the trajectory length is minimized in the rotational space and, for some cases, also minimized in the translational one. Robustness against uncertainties is also guaranteed.
Persistent Identifierhttp://hdl.handle.net/10722/158372
ISSN
References

 

DC FieldValueLanguage
dc.contributor.authorChesi, Gen_US
dc.contributor.authorHashimoto, Ken_US
dc.contributor.authorPrattichizzo, Den_US
dc.contributor.authorVicino, Aen_US
dc.date.accessioned2012-08-08T08:59:18Z-
dc.date.available2012-08-08T08:59:18Z-
dc.date.issued2003en_US
dc.identifier.citationProceedings - Ieee International Conference On Robotics And Automation, 2003, v. 3, p. 3929-3934en_US
dc.identifier.issn1050-4729en_US
dc.identifier.urihttp://hdl.handle.net/10722/158372-
dc.description.abstractIn this paper, a visual servoing strategy for dealing with the problem of keeping the observed points in the camera field of view is proposed. The approach consists of a switching control law based on camera displacement estimation and regulated from the position of the points in the image. In absence of uncertainties on the intrinsic parameters and optical axis direction, global stability is achieved and all points are kept in the field of view. Moreover, the trajectory length is minimized in the rotational space and, for some cases, also minimized in the translational one. Robustness against uncertainties is also guaranteed.en_US
dc.languageengen_US
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automationen_US
dc.subjectField Of Viewen_US
dc.subjectPoint Correspondencesen_US
dc.subjectSwitching Controlen_US
dc.subjectVisual Servoingen_US
dc.titleA switching control law for keeping features in the field of view in eye-in-hand 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-s2.0-0345327594en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-0345327594&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume3en_US
dc.identifier.spage3929en_US
dc.identifier.epage3934en_US
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

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