Keeping features in the field of view in eye-in-hand visual servoing: A switching approach

Graziano Chesi, Koichi Hashimoto, Domenico Prattichizzo, Antonio Vicino

Research output: Contribution to journalArticle

115 Citations (Scopus)

Abstract

A visual servoing strategy for keeping features in the field of view is proposed which consists of a switching among position-based control strategies and backward motion. In the absence of uncertainty on the extrinsic parameters, all features are kept in the field of view. Moreover, if the intrinsic parameters are also known, the trajectory length is minimized in the rotational space and, for some cases, also minimized in the translational space. Simulation results also show a certain degree of robustness against uncertainty on the intrinsic parameters.

Original languageEnglish
Pages (from-to)908-913
Number of pages6
JournalIEEE Transactions on Robotics
Volume20
Issue number5
DOIs
Publication statusPublished - 2004 Oct

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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