Keeping features in the field of view in eye-in-hand visual servoing: a switching approach

A visual servoing strategy for keeping features in the field of view is proposed which consists of a switching among position-based control strategies and backward motion. In the absence of uncertainty on the extrinsic parameters, all features are kept in the field of view. Moreover, if the intrinsi...

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Published in:	IEEE transactions on robotics Vol. 20; no. 5; pp. 908 - 914
Main Authors:	Chesi, G., Hashimoto, K., Prattichizzo, D., Vicino, A.
Format:	Journal Article
Language:	English
Published:	New York, NY IEEE 01.10.2004 Institute of Electrical and Electronics Engineers The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Applied sciences Cameras Computational modeling Computer science; control theory; systems Control systems Control theory. Systems Exact sciences and technology Field of view Motion control Motor ability Physics computing Robot vision systems Robotics Robots Robustness Rotational Sensors Simulation Solid modeling Strategy Switching Uncertainty Visual Visual servoing Visual servoing Trajectory Motion control Visual field Position control Switching
ISSN:	1552-3098, 1941-0468
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Abstract	A visual servoing strategy for keeping features in the field of view is proposed which consists of a switching among position-based control strategies and backward motion. In the absence of uncertainty on the extrinsic parameters, all features are kept in the field of view. Moreover, if the intrinsic parameters are also known, the trajectory length is minimized in the rotational space and, for some cases, also minimized in the translational space. Simulation results also show a certain degree of robustness against uncertainty on the intrinsic parameters.
AbstractList	A visual servoing strategy for keeping features in the field of view is proposed which consists of a switching among position-based control strategies and backward motion. In the absence of uncertainty on the extrinsic parameters, all features are kept in the field of view. Moreover, if the intrinsic parameters are also known, the trajectory length is minimized in the rotational space and, for some cases, also minimized in the translational space. Simulation results also show a certain degree of robustness against uncertainty on the intrinsic parameters. A visual servoing strategy for keeping features in the field of view is proposed which consists of a switching among position-based control strategies and backward motion. In the absence of uncertainty on the extrinsic parameters, all features are kept in the field of view. Moreover, if the intrinsic parameters are also known, the trajectory length is minimized in the rotational space and, for some cases, also minimized in the translational space. Simulation results also show a certain degree of robustness against uncertainty on the intrinsic parameters.[PUBLICATION ABSTRACT]
Author	Chesi, G. Hashimoto, K. Prattichizzo, D. Vicino, A.
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SubjectTerms	Applied sciences Cameras Computational modeling Computer science; control theory; systems Control systems Control theory. Systems Exact sciences and technology Field of view Motion control Motor ability Physics computing Robot vision systems Robotics Robots Robustness Rotational Sensors Simulation Solid modeling Strategy Switching Uncertainty Visual Visual servoing
Title	Keeping features in the field of view in eye-in-hand visual servoing: a switching approach
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