Referenced Items are not available for this document.
This paper presents a framework for visual servoing that guarantees convergence to a visible goal from almost every initially visible configurations while maintaining full view of all the feature points along the way. The method applies to first- and second-order fully actuated plant models. The solution entails three components: a model for the "occlusion-free" configurations; a change of coordinates from image to model coordinates; and a navigation function for the model space. We present three example applications of the framework, along with experimental validation of its practical efficacy.
Published in:
Robotics and Automation, IEEE Transactions on
(Volume:18
,
Issue:
4
)
Date of Publication: Aug 2002
- Page(s):
- 521 - 533
- ISSN :
- 1042-296X
- INSPEC Accession Number:
- 7472221
- Digital Object Identifier :
- 10.1109/TRA.2002.802202
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 10 December 2002
- Issue Date :
- Aug 2002
- Sponsored by :
- IEEE Robotics and Automation Society
About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies
A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2013 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.
