TY - JOUR
T1 - Keeping features in the field of view in eye-in-hand visual servoing
T2 - A switching approach
AU - Chesi, Graziano
AU - Hashimoto, Koichi
AU - Prattichizzo, Domenico
AU - Vicino, Antonio
N1 - Funding Information:
Manuscript received June 23, 2003; revised November 4, 2003. This paper was recommended by Associate Editor F. Chaumette and Editor S. Hutchinson upon evaluation of the reviewers’ comments. This work was supported in part by the Japan Society for the Promotion of Science (JSPS) under Grant-in-Aid for Scientific Research 14205034, and in part by the Italian Space Agency (ASI) under Grant I/R/124/02 “TEMA: Team-based Exploration by Mobile Agents.” This paper was presented in part at the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, R.O.C., 2003.
PY - 2004/10
Y1 - 2004/10
N2 - 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.
AB - 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.
KW - Field of view
KW - Point correspondences
KW - Switching control
KW - Visual servoing
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U2 - 10.1109/TRO.2004.829456
DO - 10.1109/TRO.2004.829456
M3 - Article
AN - SCOPUS:10244225209
SN - 1552-3098
VL - 20
SP - 908
EP - 913
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
IS - 5
ER -