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Conference Paper: A visual servoing technique for large displacements

TitleA visual servoing technique for large displacements
Authors
Issue Date2004
Citation
Proceedings - Ieee International Conference On Robotics And Automation, 2004, v. 2004 n. 2, p. 1855-1860 How to Cite?
AbstractA new visual servoing technique consisting of generating circular-like trajectories is proposed which does not require either geometrical models of the object or points depth. For calibrated camera, the object is kept in the field of view and global stability is achieved. Then, necessary and sufficient conditions are provided for establishing tolerable errors on the estimates of the intrinsic and extrinsic parameters in order to guarantee robust field of view and robust local stability. Simulation results show that the translational trajectories obtained in presence of large displacements are significantly shorter than those produced by one of the best existing methods, in both cases of correct and bad calibration. Very satisfactory results are obtained also in presence of small displacements.
Persistent Identifierhttp://hdl.handle.net/10722/158432
ISSN
References

 

DC FieldValueLanguage
dc.contributor.authorChesi, Gen_US
dc.contributor.authorVicino, Aen_US
dc.date.accessioned2012-08-08T08:59:35Z-
dc.date.available2012-08-08T08:59:35Z-
dc.date.issued2004en_US
dc.identifier.citationProceedings - Ieee International Conference On Robotics And Automation, 2004, v. 2004 n. 2, p. 1855-1860en_US
dc.identifier.issn1050-4729en_US
dc.identifier.urihttp://hdl.handle.net/10722/158432-
dc.description.abstractA new visual servoing technique consisting of generating circular-like trajectories is proposed which does not require either geometrical models of the object or points depth. For calibrated camera, the object is kept in the field of view and global stability is achieved. Then, necessary and sufficient conditions are provided for establishing tolerable errors on the estimates of the intrinsic and extrinsic parameters in order to guarantee robust field of view and robust local stability. Simulation results show that the translational trajectories obtained in presence of large displacements are significantly shorter than those produced by one of the best existing methods, in both cases of correct and bad calibration. Very satisfactory results are obtained also in presence of small displacements.en_US
dc.languageengen_US
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automationen_US
dc.titleA visual servoing technique for large displacementsen_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-s2.0-3042671153en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-3042671153&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume2004en_US
dc.identifier.issue2en_US
dc.identifier.spage1855en_US
dc.identifier.epage1860en_US
dc.publisher.placeUnited Statesen_US
dc.identifier.scopusauthoridChesi, G=7006328614en_US
dc.identifier.scopusauthoridVicino, A=7006250298en_US

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