By Topic

Use of first derivative of geometric features in 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
$33 $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)
P. Martinet ; Lab. des Sci. et Mater. pour l''Electron. et d''Autom., Univ. Blaise Pascal, Aubiere, France ; F. Berry ; J. Gallice

Visual servoing is based on an array of measurements taken from a set of images and used each time as an error function to compute a control vector. This is applied to the system (robot and camera) and makes it move in order to reach a desired situation, at the end of the task, directly depicted in the image. The originality of this recent work consists in improving the visual servoing approach. To do this, we consider a signal sensor vector constructed of a geometrical feature ((x,y) point coordinates, line parameters, etc.) and its first derivative. In this paper, we show how to work out the interaction matrix. We have tested this new approach on a workstation in the case of the point feature. We have also implemented it on our robotic platform. The overall results show a great improvement due to the action of this new signal sensor. We are extending this approach to more complex features

Published in:

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference:

22-28 Apr 1996