Optimal motion control for image-based visual servoing by decoupling translation and rotation

Koichiro Deguchi

Research output: Contribution to conferencePaperpeer-review

123 Citations (Scopus)

Abstract

Image-based visual servoing interprets image change directly to camera motion, and control the position and pose of a robot mounting a camera to reach the goal, where the camera obtains just the same image as a given goal image. Because its strategy is to simply minimize the differences between the goal image and the currently obtained image, trajectory of the robot motion cannot be estimated beforehand, and sometimes it results in largely inefficient motion. This paper points out that this inefficient motion is caused by interferences of translation and rotation of images. Then, we propose two algorithms to decouple them by using the Homography and the epipolar condition held between the goal image and the current image, and to generate the optimal trajectory of the robot motion to reach the goal straightforwardly.

Original languageEnglish
Pages705-711
Number of pages7
Publication statusPublished - 1998 Dec 1
EventProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can
Duration: 1998 Oct 131998 Oct 17

Other

OtherProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
CityVictoria, Can
Period98/10/1398/10/17

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint Dive into the research topics of 'Optimal motion control for image-based visual servoing by decoupling translation and rotation'. Together they form a unique fingerprint.

Cite this