Improving camera displacement estimation in eye-in-hand visual servoing: A simple strategy

Graziano Chesi, Koichi Hashimoto

研究成果: Conference article査読

抄録

The problem of estimating the camera displacement in eye-in-hand visual servoing is considered, and a simple strategy based on the idea that the estimates accuracy can be improved if the fact that the point correspondences used throughout the visual servoing are relative to the same 3D points is taken into account is presented. In particular, an accurate scaled euclidean reconstruction of the object is built in the first steps of the visual servoing by suitably using existing linear methods, and from this reconstruction the camera displacement is suitably estimated. Extensive proves performed in random conditions have shown that the proposed approach provides significantly better results with respect to the existing linear methods actually used in visual servoing.

本文言語English
ページ(範囲)3911-3916
ページ数6
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
3
出版ステータスPublished - 2003 12月 9
外部発表はい
イベント2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
継続期間: 2003 9月 142003 9月 19

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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