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

Graziano Chesi, Koichi Hashimoto, Domenico Prattichizzo, Antonio Vicino

Research output: Contribution to journalConference article

22 Citations (Scopus)

Abstract

In 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.

Original languageEnglish
Pages (from-to)3929-3934
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
Publication statusPublished - 2003 Dec 9
Externally publishedYes
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 2003 Sep 142003 Sep 19

Keywords

  • Field of view
  • Point correspondences
  • Switching control
  • Visual servoing

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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