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Visual servoing: a global path-planning approach
2007
Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on
This paper considers the problem of realizing visual servoing taking into account constraints such as visibility and workspace constraints while minimizing a cost function such as spanned image area and trajectory length. A new pathplanning scheme is proposed by, first, introducing a robust object reconstruction which allows one to obtain feasible image trajectories. Second, the rotation path is parameterized through a particular extension of the Euler parameters in order to obtain an
doi:10.1109/robot.2007.363629
dblp:conf/icra/ChesiH07
fatcat:5gysvhh73zcunj2h7ylzjlzure