File Download
  Links for fulltext
     (May Require Subscription)
Supplementary

Article: Visual servoing path planning for cameras obeying the unified model

TitleVisual servoing path planning for cameras obeying the unified model
Authors
KeywordsPath planning
Unified model
Visual servoing
Issue Date2012
PublisherVSP. The Journal's web site is located at http://www.tandfonline.com/toc/tadr20/current
Citation
Advanced Robotics, 2012, v. 26 n. 8-9, p. 843-860 How to Cite?
AbstractThis paper proposes a path planning visual servoing strategy for a class of cameras that includes conventional perspective cameras, fisheye cameras and catadioptric cameras as special cases. Specifically, these cameras are modeled by adopting a unified model recently proposed in the literature and the strategy consists of designing image trajectories for eye-in-hand robotic systems that allow the robot to reach a desired location while satisfying typical visual servoing constraints. To this end, the proposed strategy introduces the projection of the available image features onto a virtual plane and the computation of a feasible image trajectory through polynomial programming. Then, the computed image trajectory is tracked by using an image-based visual servoing controller. Experimental results with a fisheye camera mounted on a 6-d.o.f. robot arm are presented in order to illustrate the proposed strategy. © 2012 Copyright Taylor & Francis and The Robotics Society of Japan.
Persistent Identifierhttp://hdl.handle.net/10722/184504
ISSN
2015 Impact Factor: 0.516
2015 SCImago Journal Rankings: 0.583
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorShen, Ten_US
dc.contributor.authorChesi, Gen_US
dc.date.accessioned2013-07-15T09:51:59Z-
dc.date.available2013-07-15T09:51:59Z-
dc.date.issued2012en_US
dc.identifier.citationAdvanced Robotics, 2012, v. 26 n. 8-9, p. 843-860en_US
dc.identifier.issn0169-1864-
dc.identifier.urihttp://hdl.handle.net/10722/184504-
dc.description.abstractThis paper proposes a path planning visual servoing strategy for a class of cameras that includes conventional perspective cameras, fisheye cameras and catadioptric cameras as special cases. Specifically, these cameras are modeled by adopting a unified model recently proposed in the literature and the strategy consists of designing image trajectories for eye-in-hand robotic systems that allow the robot to reach a desired location while satisfying typical visual servoing constraints. To this end, the proposed strategy introduces the projection of the available image features onto a virtual plane and the computation of a feasible image trajectory through polynomial programming. Then, the computed image trajectory is tracked by using an image-based visual servoing controller. Experimental results with a fisheye camera mounted on a 6-d.o.f. robot arm are presented in order to illustrate the proposed strategy. © 2012 Copyright Taylor & Francis and The Robotics Society of Japan.-
dc.languageengen_US
dc.publisherVSP. The Journal's web site is located at http://www.tandfonline.com/toc/tadr20/current-
dc.relation.ispartofAdvanced Roboticsen_US
dc.rightsThis is an electronic version of an article published in Advanced Robotics, 2012, v. 26 n. 8-9, p. 843-860. The Journal article is available online at: http://www.tandfonline.com/doi/abs/10.1163/156855312X632904-
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.subjectPath planning-
dc.subjectUnified model-
dc.subjectVisual servoing-
dc.titleVisual servoing path planning for cameras obeying the unified modelen_US
dc.typeArticleen_US
dc.identifier.emailShen, T: tiantianshen@gmail.comen_US
dc.identifier.emailChesi, G: chesi@eee.hku.hk-
dc.identifier.authorityChesi, G=rp00100en_US
dc.description.naturepostprint-
dc.identifier.doi10.1163/156855312X632904-
dc.identifier.scopuseid_2-s2.0-84865699594-
dc.identifier.hkuros216367en_US
dc.identifier.volume26-
dc.identifier.issue8-9-
dc.identifier.spage843-
dc.identifier.epage860-
dc.identifier.isiWOS:000306740800002-
dc.publisher.placeNetherlands-

Export via OAI-PMH Interface in XML Formats


OR


Export to Other Non-XML Formats