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A new visual servoing technique consisting of generating circular-like trajectories is proposed which does not require either geometrical models of the object or points depth. For calibrated camera, the object is kept in the field of view and global stability is achieved. Then, necessary and sufficient conditions are provided for establishing tolerable errors on the estimates of the intrinsic and extrinsic parameters in order to guarantee robust field of view and robust local stability. Simulation results show that the translational trajectories obtained in presence of large displacements are significantly shorter than those produced by one of the best existing methods, in both cases of correct and bad calibration. Very satisfactory results are obtained also in presence of small displacements.

Chesi, G., Vicino, A. (2004). A visual servoing technique for large displacements. In Proceedings of the 2004 IEEE Int. Conf. on Robotics and Automation (pp.1855-1860). New York : IEEE [10.1109/ROBOT.2004.1308094].

A visual servoing technique for large displacements

CHESI, GRAZIANO;VICINO, ANTONIO
2004-01-01

Abstract

A new visual servoing technique consisting of generating circular-like trajectories is proposed which does not require either geometrical models of the object or points depth. For calibrated camera, the object is kept in the field of view and global stability is achieved. Then, necessary and sufficient conditions are provided for establishing tolerable errors on the estimates of the intrinsic and extrinsic parameters in order to guarantee robust field of view and robust local stability. Simulation results show that the translational trajectories obtained in presence of large displacements are significantly shorter than those produced by one of the best existing methods, in both cases of correct and bad calibration. Very satisfactory results are obtained also in presence of small displacements.
2004
0-7803-8232-3
Chesi, G., Vicino, A. (2004). A visual servoing technique for large displacements. In Proceedings of the 2004 IEEE Int. Conf. on Robotics and Automation (pp.1855-1860). New York : IEEE [10.1109/ROBOT.2004.1308094].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11365/19375
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