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Trajectory generation for obstacle avoidance of uncalibrated stereo visual servoing without 3D reconstruction

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3 Author(s)
Hosoda, K. ; Fac. of Eng., Osaka Univ., Japan ; Sakamoto, Kenji ; Asada, M.

In this paper, a trajectory generator for a visual servoing system is proposed to make the system accomplish obstacle avoidance tasks in unknown environments. Using an estimated epipolar constraint, the proposed scheme can generate trajectories for the visual servoing system on the 2D image planes by a simple obstacle avoidance method without reconstructing 3D geometry. The proposed scheme is based on the idea, “as long as one of the projected trajectories does not intersect with projected obstacles, the trajectory in 3D space can avoid the obstacles”. An experimental result is shown to demonstrate the validity of a combination of the proposed trajectory generator and the visual servoing control scheme

Published in:

Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on  (Volume:1 )

Date of Conference:

5-9 Aug 1995