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Visual servoing

MOK HENG CHONG · National University of Singapore · 2004

Master's

Cited by 0

Visual Servoing

Nicolas Andreff, Bernard Espiau, Radu Horaud et al. · 2016

In this paper, we present a new approach to visual servoing using lines. It is based on a theoretical and geometrical study of the main line representations, which allows us to define a new representation, the so-called binormalized Plücker coordinates. These are particu-larly well suited for visual servoing. Indeed, they allow the definition of an image line alignment concept. Moreover, the control law which realizes such an alignment has several properties: partial decoupling between rotation and translation, analytical inversion of the motion equations and global asymptotic stability conditions. This control law was validated both in simulation and experimentally in the spe-cific case of an orthogonal trihedron. KEY WORDS—visual servoing, projective geometry, line representation, Plücker coordinates 1.

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Visual servoing

Peiró Turpín, Santiago · RiuNet (Politechnical University of Valencia) · 2013

Cited by 0

Visual Servoing

François Chaumette · HAL (Le Centre pour la Communication Scientifique Directe) · 2020

Cited by 3Open access

Visual Servoing

Chaumette, François · SPIRE - Sciences Po Institutional REpository · 2007

International audience

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Visual servoing

Chaumette, François, Hutchinson, Seth, Corke, Peter · QUT ePrints (Queensland University of Technology) · 2016

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Visual Servoing

François Chaumette, Seth Hutchinson, Peter Corke · Springer handbooks · 2016

Cited by 127

Visual servoing.

Terán Vásquez, Nohely. · Americanae (AECID Library) · 2008

Cited by 0

Visual Servoing

Chaumette, François, Hutchinson, Seth, Corke, Peter · HAL (Le Centre pour la Communication Scientifique Directe) · 2016

Cited by 0Open access

Visual servoing

Chaumette, François · HAL (Le Centre pour la Communication Scientifique Directe) · 2016

International audience

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Extended Visual Servoing

Hong Zhang, Noah J. Cowan · 2003

Abstract : We present initial progress on so-called extended visual servoing, an integrated approach of controlling mobile robots equipped with multiple sensors. Our approach to sensor fusion uses the mathematical framework of visual servoing for a higher dimensional feature space that incorporates other sensors in addition to vision (which still plays a central role). Analysis and simulation on a planar mobile robot with vision + sonar shows the initial success of the approach.

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Decoupled Visual Servoing

Hicham Hadj-abdelkader* Youcef Mezouar · 2008

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Projective Visual Servoing

Andreas Ruf And, Radu Horaud · 2007

Contents 1 Introduction 4 1.1 Mathematical notations . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2 Motion of a rigid body 5 2.1 Motion and coordinate frames . . . . . . . . . . . . . . . . . . . . . . . 5 2.2 The components of motions: rotation and translation . . . . . . . . . . 5 2.3 Changing coordinate frames . . . . . . . . . . . . . . . . . . . . . . . . 5 3 Rotations 7 3.1 Orthogonal matrices and rotations . . . . . . . . . . . . . . . . . . . . 7 3.2 Eigenvalues and eigenvectors . . . . . . . . . . . . . . . . . . . . . . . . 8 3.3 Real Jordan factorization . . . . . . . . . . . . . . . . . . . . . . . . . . 8 3.4 Ambiguity of RJF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 3.5 Rodrigues formula for 3\\Theta3 rotations . . . . . . . . . . . . . . . . . . . 10 3.6 Exponential representation . . . . . . . . . . . . . . . . . . . . . . . . . 11 4 Homogeneous (projective) coordinates 1

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Uncalibrated Visual Servoing

Michael Spratling, R. Cipolla · 1996

Visual servoing is a process to enable a robot to position a camera with respect to known landmarks using the visual data obtained by the camera itself to guide camera motion. A solution is described which requires very little a priori information freeing it from being specific to a particular configuration of robot and camera. The solution is based on closed loop control together with deliberate perturbations of the trajectory to provide calibration movements for refining that trajectory. Results from experiments in simulation and on a physical robot arm (camera-in-hand configuration) are presented.

Cited by 10

Multicameras visual servoing

François Chaumette, In François Chaumette Eric March · 2000

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Omnidirectional Visual servoing

Philippe Martinet, Youcef Mezouar, Hicham Hadj Abdelkader · HAL (Le Centre pour la Communication Scientifique Directe) · 2007

International audience

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visual servoing and

P Zacharia, I G Mariolis, N Aspragathos et al. · 2007

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Attentive Visual Servoing

James J. Clark, Nicola J. Ferrier · 1992

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VISUAL SERVOING MULTIFRECUENCIA

Solanes Galbis, Juan Ernesto · RiuNet (Politechnical University of Valencia) · 2011

El trabajo aborda la problemática asociada al Visual Servoing. En concreto, en lo referente al elevado coste computacional asociado tanto a la adquisición y procesamiento de imágenes como a la manipulación de sistemas mecánicos (robots y vehículos). Esta tesina plantea el estudio de técnicas multifrecuenciales para la mejora de dicho comportamiento.

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Relative visual servoing

S. Jafari, R.A. Jarvis, Thirukkumaran Sivahumaran · 2005

In this paper, we present two methods of performing eye-to-hand visual servoing: relative visual servoing and interpolation. These methods need only a monocular eye-to-hand camera and primitive tactile sensors. The set-up is part of a humanoid robot under development, named COERSU. Experimental results from COERSU are provided to validate these methods. An evolved visual perception system based on genetic algorithms was used to obtain the best possible combination of segmentation parameters. The experimental results show, relative visual servoing represents a significant improvement over the other methods in terms of reliability.

Cited by 6