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3D image-based dynamic visual servoing with uncalibrated stereo cameras

Caixia Cai, Emmanuel Dean-Leon, Nikhil Somani, Alois Knoll
2013 IEEE ISR 2013  
This paper introduces a new comprehensive solution for the open problem of uncalibrated 3D image-based stereo visual servoing for robot manipulators.  ...  One of the main contributions of this article is a novel 3D stereo camera model to map positions in the task space to positions in a new 3D Visual Cartesian Space (a visual feature space where 3D positions  ...  Second, the design of a Dynamic Visual Servoing control for robot manipulators.  ... 
doi:10.1109/isr.2013.6695650 dblp:conf/isr/CaiDSK10 fatcat:acznktbdenab3hje2k6gyhreb4

Control of the Final-Phase of Closed-Loop Visual Grasping using Image-Based Visual Servoing [article]

Jesse Haviland, Feras Dayoub, Peter Corke
2020 arXiv   pre-print
To overcome this we propose the use of image-based visual servoing (IBVS) to guide the robot to the object-relative grasp pose using camera RGB information.  ...  IBVS robustly moves the camera to a goal pose defined implicitly in terms of an image-plane feature configuration.  ...  Using a Feature Detector for Visual Servoing Image feature points are a popular choice for IBVS in unstructured environments.  ... 
arXiv:2001.05650v2 fatcat:evlylegw7vdcxonbumthzgsopm

Nonlinear Image Based Visual Servoing Using Parallel Robots

Zhen Qi, John E. McInroy
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
An adaptive supervisory fuzzy logic controller (ASFLC) is first designed to compensate for the uncertainties of the parallel robot and uncertainty of the image Jacobian, then a hybrid controller (HC) including  ...  This paper considers the control problem of an eye-in-hand type of parallel robot based precision pointing system (PRBPPS) in which the visual sensor is mounted on the platform of the parallel robot.  ...  Position-Based Visual Servo (PBVS) and Image Based Visual Servo (IBVS) are two commonly used methods.  ... 
doi:10.1109/robot.2007.363570 dblp:conf/icra/QiM07 fatcat:ess55ijy3bfarfdyh5hm6zb2am

Uncalibrated 3D stereo image-based dynamic visual servoing for robot manipulators

Caixia Cai, Emmanuel Dean-Leon, Dario Mendoza, Nikhil Somani, Alois Knoll
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper introduces a new comprehensive solution for the open problem of uncalibrated 3D image-based stereo visual servoing for robot manipulators.  ...  One of the main contributions of this article is a novel 3D stereo camera model to map positions in the task space to positions in a new 3D Visual Cartesian Space (a visual feature space where 3D positions  ...  In Image-Based Visual Servoing (IBVS) the error function is defined directly in terms of image features.  ... 
doi:10.1109/iros.2013.6696333 dblp:conf/iros/CaiDMSK13 fatcat:m62inxe7w5bf3hmu7tequapflu

Image-Based Visual Servoing With Unknown Point Feature Correspondence

Aaron McFadyen, Marwen Jabeur, Peter Corke
2017 IEEE Robotics and Automation Letters  
This paper presents a new image-based visual servoing approach that simultaneously solves the feature correspondence and control problem.  ...  Using a finite-time optimal control framework, feature correspondence is implicitly solved for each new image during the control selection, alleviating the need for additional image processing and feature  ...  ACKNOWLEDGEMENT The authors would like to thank the Institute for Flight Mechanics (IFR) at the University of Stuttgart and the Australian Research Centre for Aerospace Automation (ARCAA) for providing  ... 
doi:10.1109/lra.2016.2645886 dblp:journals/ral/McFadyenJC17 fatcat:tarufbwhrndynilud54hffg4s4

Image-based Visual Servoing Control of Robot Manipulators Using Hybrid Algorithm with Feature Constraints

Xiaolin Ren, Hongwen Li, Yuanchun Li
2020 IEEE Access  
The challenge in addressing uncalibrated visual servoing (VS) control of robot manipulators with unstructured environments is to obtain appropriate interaction matrix and keep the image features in the  ...  Simulation and experimental results on a conventional 6-degree-of-freedom manipulator verify the effectiveness of the proposed method.  ...  After each moving step, the new image features are extracted and the Jacobian matrix is re-estimated.  ... 
doi:10.1109/access.2020.3042207 fatcat:wxjzaszbmbe3xna6a7otfjjzse

6D image-based visual servoing for robot manipulators with uncalibrated stereo cameras

Caixia Cai, Emmanuel Dean-Leon, Nikhil Somani, Alois Knoll
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper introduces 6 new image features to provide a solution to the open problem of uncalibrated 6D image-based visual servoing for robot manipulators, where the goal is to control the 3D position  ...  This new model is used to compute a full-rank square Image Jacobian matrix (J img ), which solves several common problems exhibited by the classical image Jacobians, e.g., Image space singularities and  ...  In Visual Servoing the image Jacobian needs to be calculated or estimated.  ... 
doi:10.1109/iros.2014.6942640 dblp:conf/iros/CaiDSK14 fatcat:e6gkwdi4lbcyba54viv6abpigq

Image-based visual servoing using improved image moments in 6-DOF robot systems

Yimin Zhao, Wen-Fang Xie, Sining Liu
2013 International Journal of Control, Automation and Systems  
A number of methods have been proposed to solve the depth estimation problem in visual servoing. The classical one is proposed by C. C. W.  ...  diagram of PBVS Block diagram of HVS (2-1/2-D method [11]) Meanwhile, a new set of image features are defined in [20] based on the invariants from [22] .  ... 
doi:10.1007/s12555-012-0232-9 fatcat:5b3enhfyfbchhl7o65jtnhvbke

A Robust Design for Image-based Visual Servoing
english

Hajer Abidi, Khaled Kaaniche, Hassen Mekki, Mohamed Chtourou
2013 Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics  
In this paper we introduce a new robust visual scheme intended to 2D visual servoing robotic tasks. The main object is to direct the robot to its desired position.  ...  We should find good selections of visual data in order to be correctly matched and interpreted by the visual control law regardless of the different sorts of errors.  ...  Due to the limitation of existing feature extraction techniques, a robust visual servoing design is proposed in section III based on a combination of an efficient image processing and statistics techniques  ... 
doi:10.5220/0004428301390146 dblp:conf/icinco/AbidiKMC13 fatcat:27gnro2r2bdchhpia53tvbhynq

Constrained Image-Based Visual Servoing of Robot Manipulator with Third-Order Sliding-Mode Observer

Xiuyan Peng, Jiashuai Li, Bing Li, Jiawei Wu
2022 Machines  
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  ...  A new image-based robot visual servo control strategy based on a third-order sliding-mode observer (TOSM) model predictive control is proposed in this study.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/machines10060465 fatcat:4av7qfjehbfpxnfek2hhdv6mly

Fast Model Predictive Image-Based Visual Servoing for Quadrotors*

Pedro Roque, Elisa Bin, Pedro Miraldo, Dimos V. Dimarogonas
2020 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
This paper studies the problem of Image-Based Visual Servo Control (IBVS) for quadrotors.  ...  Stability guarantees of the proposed scheme are presented. The proposed model is validated with synthetic data and tested in a real UAV's setup.  ...  CONCLUSIONS We present a new formulation to tackle the under-actuation issues of the image-based visual servoing of a quadrotor.  ... 
doi:10.1109/iros45743.2020.9340759 fatcat:b2o5kumuifbbpckiis6jhxif4u

Image based visual servoing using algebraic curves applied to shape alignment

Ahmet Yasin Yazicioglu, Berk Calli, Mustafa Unel
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper presents a novel method for using boundary information in visual servoing. Object boundaries are modeled by algebraic equations and decomposed as a unique sum of product of lines.  ...  We propose that these lines can be used to extract useful features for visual servoing purposes. In this paper, intersection of these lines are used as point features in visual servoing.  ...  Section 3 reviews image based visual servoing for a calibrated camera. Simulation results are presented in Section 4.  ... 
doi:10.1109/iros.2009.5354310 dblp:conf/iros/YaziciogluCU09 fatcat:c4ql3bq57zah5igewjre6225eu

Simulation of Visual Servoing Control and Performance Tests of 6R Robot Using Image-Based and Position-Based Approaches [chapter]

M. H., F. S.
2007 Vision Systems: Applications  
Hard cover, 608 pages Publisher I-Tech Education and Publishing Computer Vision is the most important key in developing autonomous navigation systems for interaction with the environment.  ...  It also leads us to marvel at the functioning of our own vision system. In this book we have collected the latest applications of vision research from around the world.  ...  For image based visual servo control simulation of the 6R robot, two cameras are used.  ... 
doi:10.5772/4991 fatcat:i6b4fvapfvfdza66crkvxfzugi

Improving Image-Based Visual Servoing with Three-Dimensional Features

E. Cervera, A. P. del Pobil, F. Berry, P. Martinet
2003 The international journal of robotics research  
Neither of the classical visual servoing approaches, position-based and image-based, are completely satisfactory.  ...  In position-based visual servoing the trajectory of the robot is well stated, but the approach suffers mainly from the image features going out of the visual field of the cameras.  ...  Pixels and Depth A requirement in image-based visual servoing with points is the value of Z i for each feature point, in order to compute the interaction matrix.  ... 
doi:10.1177/027836490302210003 fatcat:tvhvmzie3nc3hcecg2uzwgyrba

Modular Design of Image Based Visual Servo Control for Dynamic Mechanical Systems [chapter]

Robert Mahony
2016 Springer Tracts in Advanced Robotics  
This paper presents a modular framework for design of image based visual servo control for fully actuated dynamic mechanical systems.  ...  A simple approach based on full state measurement is presented and then extended to deal with unmeasured relative depth of image features.  ...  Acknowledgements This research was supported by the Australian Research Council through Future Fellowship FT0991771 "Foundations of Vision Based Control of Robotic Vehicles"  ... 
doi:10.1007/978-3-319-29363-9_8 fatcat:p5xrkpclx5e67b7q6lrj2uwbre
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