Path planning with uncalibrated stereo rig for image-based visual servoing under large pose discrepancy

Cited 21 time in webofscience Cited 0 time in scopus
  • Hit : 237
  • Download : 0
Although image-based visual servoing provides superior performance in many vision-based robotic applications, it reveals fatal limitations when initial pose discrepancy is large. T e feature points may leave the camera's field of view, and also, the robot may not converge to the goal configuration. In this paper, a novel approach is proposed to resolve these limitations by planning trajectories in the image space using uncalibrated stereo cameras. Intermediate views of the robot gripper are synthesized to generate the image trajectories such that the gripper can track a straight path in the three-dimensional workspace. The proposed method utilizes screw motions of the gripper represented in the projective space with the help of the fundamental properties of projective geometry. Computational issues are also considered to enhance the estimation of the projective transformation from initial to goal configuration. The validity of this approach is demonstrated through computer simulations and limited experiments.
Publisher
Institute of Electrical and Electronics Engineers
Issue Date
2003-04
Language
English
Article Type
Article; Proceedings Paper
Citation

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, v.19, no.2, pp.250 - 258

ISSN
1042-296X
URI
http://hdl.handle.net/10203/83774
Appears in Collection
EE-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.
This item is cited by other documents in WoS
⊙ Detail Information in WoSⓡ Click to see webofscience_button
⊙ Cited 21 items in WoS Click to see citing articles in records_button

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0