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A transformation of the Position Based Visual Servoing Problem into a convex optimization problem
2012
2012 IEEE 51st IEEE Conference on Decision and Control (CDC)
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We assume that the pose is possible to retrieve from the observations of the point features, i.e., we have a Position Based Visual Servoing Problem with constraints. ...
We introduce a two step method that transforms the problem into a convex optimization problem with linear constraints. In the first step the rotational motion is restricted to be of a certain type. ...
Traditionally visual servoing has been divided into two categories: Image Based Visual Servoing (IBVS) [2] and Position Based Visual Servoing (PBVS) [2] . ...
doi:10.1109/cdc.2012.6426022
dblp:conf/cdc/WangTH12
fatcat:trqezauaivcc3pitgsfr3pydpu
Path planning approach to visual servoing with feature visibility constraints: A convex optimization based solution
2007
2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
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This paper explores the possibility of using convex optimization to address a class of problems in visual servoing. ...
We formulate the visual servoing problem with feature visibility constraints as a convex optimization of a function of the camera position i.e. the translation of the camera. ...
The aim of this paper is to explore the utility of convex optimization to address a class of problems in visual servoing. ...
doi:10.1109/iros.2007.4399590
dblp:conf/iros/HafezNJ07
fatcat:ilfs3fseajhg5g7lejneonzaxm
Particle filter-based direct visual servoing
2016
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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With respect to classical visual servoing (VS) technics based on geometrical features, the main drawback of direct visual servoing is its limited convergence area. ...
In this paper we propose a new direct visual servoing control law that relies on a particle filter to achieve non-local and non-linear optimization in order to increase this convergence area. ...
PF-based visual servoing control law As seen in the Section II, visual servoing can be viewed as an optimization problem. ...
doi:10.1109/iros.2016.7759615
dblp:conf/iros/BateuxM16
fatcat:4wx3cfdg6vbxtlptcde5bvdlcm
PATH PLANNING FOR VISUAL SERVOING AND NAVIGATION USING CONVEX OPTIMIZATION
2015
International Journal of Robotics and Automation
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We utilize branch-and-bound algorithm to divide the problem of optimizing over a range of rotations into simpler problems and solve for the optimal rotation. ...
We demonstrate the performance of the algorithm by generating control signals in a simulated framework for visual servoing and in a real-world for robot navigation. ...
Visual Navigation Autonomous vision-based navigation is the ability of a robot to move one position to another with the aid of the visual information. ...
doi:10.2316/journal.206.2015.3.206-4271
fatcat:bmnox5f6bvbgtehhzrq5yxc7tu
Image Noise Induced Errors in Camera Positioning
2007
IEEE Transactions on Pattern Analysis and Machine Intelligence
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The problem of evaluating worst-case camera positioning error induced by unknown-but-bounded (UBB) image noise for a given object-camera configuration is considered. ...
Specifically, it is shown that upper bounds to the rotation and translation worst-case error for a certain image noise intensity can be obtained through convex optimizations. ...
ACKNOWLEDGMENTS The authors would like to thank the associate editor and the reviewers for their useful and constructive comments. ...
doi:10.1109/tpami.2007.70723
pmid:17568150
fatcat:b375yb73mjchljwwylvjwdhzi4
Improving mutual information-based visual servoing
2010
2010 IEEE International Conference on Robotics and Automation
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Experiments on a 6 dof robot demonstrates the significance of this work on visual servoing tasks. ...
In a previous paper [3], we proposed a new way to achieve visual servoing. ...
The approaches proposed by [2] - [4] , [7] , no longer require any matching or tracking process. They turn the visual servoing problem into a non linear optimization problem [9] . ...
doi:10.1109/robot.2010.5509540
dblp:conf/icra/DameM10
fatcat:is3jakk4nfa6ppwkbehkavhxr4
Optimal Object Configurations to Minimize the Positioning Error in Visual Servoing
2010
IEEE Transactions on robotics
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Various methods have been proposed to accomplish this task, such as the pioneering image-based visual servoing (IBVS) [13] and position-based visual servoing (PBVS) [21] . ...
Some examples illustrate the use of the proposed strategy in such problems. Index Terms-Image noise, positioning error, visual servoing.
I. ...
doi:10.1109/tro.2010.2046071
fatcat:g2xmfhru65aufk5pukt5c2o3du
Constrained Image-Based Visual Servoing of Robot Manipulator with Third-Order Sliding-Mode Observer
2022
Machines
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transformed into a nonlinear optimization problem based on a model predictive control method considering both visibility constraints and actuator constraints, which minimizes the predicted trajectory ...
In the proposed method, the joint velocity and system centralized uncertainties are estimated simultaneously based on a third-order sliding-mode observer, and the image-based visual servoing problem is ...
Conflicts of Interest: The authors declare no conflict of interest. ...
doi:10.3390/machines10060465
fatcat:4av7qfjehbfpxnfek2hhdv6mly
Computational Intelligence in Image Processing 2014
2015
Mathematical Problems in Engineering
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The visual control task is approached as a nonlinear optimization problem that naturally handles relevant visual servoing constraints such as workspace limitations and visibility restrictions. ...
Perez-Cisneros et al. introduce a predictive control strategy for an image-based visual servoing scheme that employs evolutionary optimization. ...
We hope that this special issue offers a comprehensive and timely view of the area of applications of computational intelligence in image processing and that it will grant stimulation for further research ...
doi:10.1155/2015/782826
fatcat:vyubwycbpjcttl7uw6y526peia
Acquiring visual-motor models for precision manipulation with robot hands
[chapter]
1996
Lecture Notes in Computer Science
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We present a novel active vision based algorithm for visual servoing, capable of learning the manipulator kinematics and camera calibration online while executing a manipulation task. ...
We instead propose a combination of two techniques: the use of an approximate estimated motor model, based on the grasp tetrahedron acquired when grasping an object, and the use of visual feedback to achieve ...
or path following method [8] is used to divide a potentially non-convex problem into several smaller convex problems by creating subgoals along trajectories planned in visual space. ...
doi:10.1007/3-540-61123-1_174
fatcat:223d4e5xyvdvnkqu4wdiul2yci
Visual Servoing-based Registration of Multimodal Images
2015
Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics
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More precisely, it presents two techniques: a numerical registration of multimodal images and a vision feedback control for positioning an endoscope with regards to a preoperative image (fluorescence image ...
This paper deals with mutual information-based numerical and physical registration of white light images vs. fluorescence images for microrobotic laser microphonosurgery of the vocal folds. ...
ACKNOWLEDGEMENTS This work was supported by French ANR NEMRO no ANR-14-CE17-0013-001, and by µRALP, the EC FP7 ICT Collaborative Project no. 288663 (http://www.microralp.eu), and by ACTION, the French ...
doi:10.5220/0005528900440051
dblp:conf/icinco/OurakTAM15
fatcat:bz5eoum4w5e4xfwjandffjqicy
Frequency Domain Visual Servoing Using Planar Contours
2008
2008 Sixth Indian Conference on Computer Vision, Graphics & Image Processing
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Fourier domain methods have had a long association with geometric vision. In this paper, we introduce Fourier domain methods into the field of visual servoing for the first time. ...
Most importantly, by introducing Fourier techniques, we set a framework into which robust Fourier based geometry processing algorithms may be incorporated to address the various issues in servoing. ...
Thus, visual servoing approaches set in a Fourier based framework have the potential of bringing these advantages into the servoing process. ...
doi:10.1109/icvgip.2008.63
dblp:conf/icvgip/ChariSNJ08
fatcat:uypoiuldcjbzneqyyu3ihimcru
Vision-guided motion primitives for humanoid reactive walking: Decoupled versus coupled approaches
2014
The international journal of robotics research
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The contribution of the paper is to formulate the MPC problem considering visual feedback. We compare our approach with a scheme decoupling visual servoing and walking gait generation. ...
This paper proposes a novel visual servoing approach to control the dynamic walk of a humanoid robot. Online visual information is given by an on-board camera. ...
ACKNOWLEDGMENTS The first author is supported by the grant 263150 from the Mexican National Council of Science and Technology (CONACYT). ...
doi:10.1177/0278364914550891
fatcat:gkemrslsqra7basv4ytpzxglmy
Automatic Control of Mobile Industrial Robot Based on Multiobjective Optimization Strategy
2022
Journal of Electrical and Computer Engineering
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In order to solve the optimal cascade mobile path selection problem when mobile industrial robots repair network coverage holes, a cascade mobile path selection optimization method considering the number ...
the perspective of multiobjective optimization, effectively balances the energy consumption of each mobile industrial robot, makes full use of the energy of the whole network, and prolongs the survival ...
Acknowledgments is study was sponsored by the Natural Science Foundation of Chongqing, China (no. cstc2021jcyj-msxmX1113). ...
doi:10.1155/2022/7825906
fatcat:pk76b5r6w5hppbytkmsrker45m
3D POINT CLOUD MODEL COLORIZATION BY DENSE REGISTRATION OF DIGITAL IMAGES
2015
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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The camera pose is computed using the entire images intensities under a photometric visual and virtual servoing (VVS) framework. ...
However, the photometric quality of the acquired point clouds is generally rather low because of several problems presented below. ...
Photometric virtual and visual servoing We express the extrinsic and intrinsic camera parameters estimation problem as an optimization problem under the visual servoing framework. ...
doi:10.5194/isprsarchives-xl-5-w4-123-2015
fatcat:ubebd4454fdczp7gma6amnp4xq
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