Cart (Loading....) | Create Account
Close category search window
 

Direct Visual Servoing: Vision-Based Estimation and Control Using Only Nonmetric Information

Sign In

Full text access may be available.

To access full text, please use your member or institutional sign in.

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)
Silveira, G. ; Div. of Robot. & Comput. Vision, Center for Inf. Technol. Renato Archer, Campinas, Brazil ; Malis, E.

This paper addresses the problem of stabilizing a robot at a pose specified via a reference image. Specifically, this paper focuses on six degrees-of-freedom visual servoing techniques that require neither metric information of the observed object nor precise camera and/or robot calibration parameters. Not requiring them improves the flexibility and robustness of servoing tasks. However, existing techniques within the focused class need prior knowledge of the object shape and/or of the camera motion. We present a new visual servoing technique that requires none of the aforementioned information. The proposed technique directly exploits 1) the projective parameters that relate the current image with the reference one and 2) the pixel intensities to obtain these parameters. The level of versatility and accuracy of servoing tasks are, thus, further improved. We also show that the proposed nonmetric scheme allows for path planning. In this way, the domain of convergence is greatly enlarged as well. Theoretical proofs and experimental results demonstrate that visual servoing can, indeed, be highly accurate and robust, despite unknown objects and imaging conditions. This naturally encompasses the cases of color images and illumination changes.

Published in:

Robotics, IEEE Transactions on  (Volume:28 ,  Issue: 4 )

Date of Publication:

Aug. 2012

Need Help?


IEEE Advancing Technology for Humanity 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 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.