Keeping features in the field of view in eye-in-hand visual servoing: A switching approach

Graziano Chesi, Koichi Hashimoto, Domenico Prattichizzo, Antonio Vicino

研究成果: Article査読

133 被引用数 (Scopus)

抄録

A visual servoing strategy for keeping features in the field of view is proposed which consists of a switching among position-based control strategies and backward motion. In the absence of uncertainty on the extrinsic parameters, all features are kept in the field of view. Moreover, if the intrinsic parameters are also known, the trajectory length is minimized in the rotational space and, for some cases, also minimized in the translational space. Simulation results also show a certain degree of robustness against uncertainty on the intrinsic parameters.

本文言語English
ページ(範囲)908-913
ページ数6
ジャーナルIEEE Transactions on Robotics
20
5
DOI
出版ステータスPublished - 2004 10月
外部発表はい

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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