By Topic

Motion perceptibility and its application to active vision-based servo control

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

2 Author(s)
Sharma, R. ; Dept. of Comput. Sci., Pennsylvania State Univ., University Park, PA, USA ; Hutchinson, S.

We address the ability of a computer vision system to perceive the motion of an object (possibly a robot manipulator) in its field of view. We derive a quantitative measure of motion perceptibility, which relates the magnitude of the rate of change in an object's position to the magnitude of the rate of change in the image of that object. We then show how motion perceptibility can be combined with the traditional notion of manipulability, into a composite perceptibility/manipulability measure. We demonstrate how this composite measure may be applied to a number of different problems involving relative hand/eye positioning and control

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:13 ,  Issue: 4 )