Improving camera displacement estimation in eye-in-hand visual servoing: A simple strategy

Graziano Chesi, Koichi Hashimoto

Research output: Contribution to journalConference articlepeer-review

Abstract

The problem of estimating the camera displacement in eye-in-hand visual servoing is considered, and a simple strategy based on the idea that the estimates accuracy can be improved if the fact that the point correspondences used throughout the visual servoing are relative to the same 3D points is taken into account is presented. In particular, an accurate scaled euclidean reconstruction of the object is built in the first steps of the visual servoing by suitably using existing linear methods, and from this reconstruction the camera displacement is suitably estimated. Extensive proves performed in random conditions have shown that the proposed approach provides significantly better results with respect to the existing linear methods actually used in visual servoing.

Original languageEnglish
Pages (from-to)3911-3916
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

  • Camera displacement estimation
  • Point correspondences
  • Visual servoing

ASJC Scopus subject areas

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

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