A switching control law for keeping features in the field of view in eye-in-hand visual servoing

Graziano Chesi, Koichi Hashimoto, Domenico Prattichizzo, Antonio Vicino

研究成果: Conference article

22 引用 (Scopus)

抜粋

In this paper, a visual servoing strategy for dealing with the problem of keeping the observed points in the camera field of view is proposed. The approach consists of a switching control law based on camera displacement estimation and regulated from the position of the points in the image. In absence of uncertainties on the intrinsic parameters and optical axis direction, global stability is achieved and all points are kept in the field of view. Moreover, the trajectory length is minimized in the rotational space and, for some cases, also minimized in the translational one. Robustness against uncertainties is also guaranteed.

元の言語English
ページ(範囲)3929-3934
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
3
出版物ステータスPublished - 2003 12 9
外部発表Yes
イベント2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
継続期間: 2003 9 142003 9 19

ASJC Scopus subject areas

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

フィンガープリント A switching control law for keeping features in the field of view in eye-in-hand visual servoing' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

  • これを引用