A self-calibrating technique for visual servoing

Graziano Chesi, Koichi Hashimoto

Research output: Contribution to journalConference article

9 Citations (Scopus)

Abstract

In 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.

Original languageEnglish
Pages (from-to)2878-2883
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume3
Publication statusPublished - 2002 Dec 1
Externally publishedYes
Event41st IEEE Conference on Decision and Control - Las Vegas, NV, United States
Duration: 2002 Dec 102002 Dec 13

Keywords

  • Essential matrix
  • Optimization
  • Self-calibration
  • Visual servoing

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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