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A transformation of the Position Based Visual Servoing Problem into a convex optimization problem

Yuquan Wang, Johan Thunberg, Xiaoming Hu
2012 2012 IEEE 51st IEEE Conference on Decision and Control (CDC)  
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

A.H. Abdul Hafez, Anil Kumar Nelakanti, C.V. Jawahar
2007 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  
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

Quentin Bateux, Eric Marchand
2016 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
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


Abdul Hafez Abdul Hafez, Anil K. Nelakanti, C.V. Jawahar
2015 International Journal of Robotics and Automation  
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

Graziano Chesi, Y.S. Hung
2007 IEEE Transactions on Pattern Analysis and Machine Intelligence  
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

Amaury Dame, Eric Marchand
2010 2010 IEEE International Conference on Robotics and Automation  
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

Graziano Chesi
2010 IEEE Transactions on robotics  
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

Xiuyan Peng, Jiashuai Li, Bing Li, Jiawei Wu
2022 Machines  
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

Erik Cuevas, Daniel Zaldívar, Gonzalo Pajares, Marco Perez-Cisneros, Raúl Rojas
2015 Mathematical Problems in Engineering  
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]

Martin Jägersand, Olac Fuentes, Randal Nelson
1996 Lecture Notes in Computer Science  
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

M. Ourak, B. Tamadazte, N. Andreff, E. Marchand
2015 Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics  
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 (, and by ACTION, the French  ... 
doi:10.5220/0005528900440051 dblp:conf/icinco/OurakTAM15 fatcat:bz5eoum4w5e4xfwjandffjqicy

Frequency Domain Visual Servoing Using Planar Contours

Visesh Chari, Avinash Sharma, Anoop Namboodiri, C.V. Jawahar
2008 2008 Sixth Indian Conference on Computer Vision, Graphics & Image Processing  
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

Mauricio Garcia, Olivier Stasse, Jean-Bernard Hayet, Claire Dune, Claudia Esteves, Jean-Paul Laumond
2014 The international journal of robotics research  
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

Ya-Hong Zhu, Jian Jiao, Wei Liu
2022 Journal of Electrical and Computer Engineering  
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


N. Crombez, G. Caron, E. Mouaddib
2015 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
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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