Robotic visual servoing around a static target: An example of controlled active vision

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Scopus citations

Abstract

This paper addresses the problem of robotic visual servoing (eye-in-hand configuration) around a static rigid target. The objective is to move the image projections of certain feature points of the static rigid target to some desired image positions. The eye-in-hand configuration consists of a CCD camera mounted on the end-effector of the robotic manipulator to provide visual measurements of the motion of the target's features. The vision algorithm is based on a cross-correlation technique, called SSD optical flow. The camera model introduces a number of parameters that must be estimated on-line. An adaptive control algorithm compensates for the servoing errors and the computational delays which are introduced by the time-consuming vision algorithms. Stability issues along with issues concerning the minimum number of required feature points are discussed. Experimental results are presented to verify the validity and the efficacy of the proposed algorithms.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
PublisherPubl by American Automatic Control Council
Pages1489-1494
Number of pages6
ISBN (Print)0780302109, 9780780302105
DOIs
StatePublished - Jan 1 1992
EventProceedings of the 1992 American Control Conference - Chicago, IL, USA
Duration: Jun 24 1992Jun 26 1992

Publication series

NameProceedings of the American Control Conference
Volume2
ISSN (Print)0743-1619

Other

OtherProceedings of the 1992 American Control Conference
CityChicago, IL, USA
Period6/24/926/26/92

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