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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Bibliographic Details
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
Online Access:Get full text
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Summary: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.
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2004.829456