Visual servoing using eigenspace method and dynamic calculation of interaction matrices

Koichiro Deguchi, Takashi Noguchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

A general scheme to represent the relation between dynamic images and camera motion is presented, and its application to visual servoing proposed. For a specific object, the camera cannot obtain any arbitrary image, so that the possible combination of the camera pose and the obtained image should be constrained on a lower dimensional hyper surface within the product space of all the combinations. The visual servoing, for example, is interpreted as to find a path on this surface leading to a given goal image. Our approach is to analyse the properties of this surface and utilise its tangential property for visual servoing. We propose to use the principal component analysis and to represent images with a composition of small number of "eigen-images" by using the Karhunen-Loeve expansion. We describe that a normal vector of this surface is related to the so-called interaction matrix. We then present a dynamic estimation of the normal vectors to move the robot arm mounting a camera to a goal position where a given goal image will be obtained. Experimental results of visual servoing method show the feasibility and applicability of our proposed approach.

Original languageEnglish
Title of host publicationTrack A
Subtitle of host publicationComputer Vision
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages302-306
Number of pages5
ISBN (Print)081867282X, 9780818672828
DOIs
Publication statusPublished - 1996 Jan 1
Event13th International Conference on Pattern Recognition, ICPR 1996 - Vienna, Austria
Duration: 1996 Aug 251996 Aug 29

Publication series

NameProceedings - International Conference on Pattern Recognition
Volume1
ISSN (Print)1051-4651

Other

Other13th International Conference on Pattern Recognition, ICPR 1996
Country/TerritoryAustria
CityVienna
Period96/8/2596/8/29

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

Fingerprint

Dive into the research topics of 'Visual servoing using eigenspace method and dynamic calculation of interaction matrices'. Together they form a unique fingerprint.

Cite this