By Topic

Keeping Objects in the Field of View: An Underdetermined Task Function Approach to Visual Servoing

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Gans, N.R. ; Dept. of Mech. & Aerosp. Eng., Univ. of Florida, Gainesville, FL ; Hu, G. ; Dixon, W.E.

This paper introduces a novel visual servo controller designed to keep multiple objects in the camera field-of-view. In contrast to other visual servo controllers, there is no goal pose or goal image. In this paper, a set of underdetermined task functions are developed to regulate the mean and variance of a set of image features. Regulating these task functions will keep feature points in the camera field-of-view. An additional task function is used to maintain a high level of motion perceptibility, which ensures that desired feature point velocities can be achieved. Simulations of several object tracking tasks have verified the performance of the proposed method.

Published in:

Intelligent Control, 2008. ISIC 2008. IEEE International Symposium on

Date of Conference:

3-5 Sept. 2008