TY - GEN
T1 - Visual servoing using eigenspace method and dynamic calculation of interaction matrices
AU - Deguchi, Koichiro
AU - Noguchi, Takashi
PY - 1996/1/1
Y1 - 1996/1/1
N2 - 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.
AB - 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.
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U2 - 10.1109/ICPR.1996.546038
DO - 10.1109/ICPR.1996.546038
M3 - Conference contribution
AN - SCOPUS:0005020250
SN - 081867282X
SN - 9780818672828
T3 - Proceedings - International Conference on Pattern Recognition
SP - 302
EP - 306
BT - Track A
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 13th International Conference on Pattern Recognition, ICPR 1996
Y2 - 25 August 1996 through 29 August 1996
ER -