Three-View Uncalibrated Visual Servoing
Full Text: shademan2010c.pdf
We describe a new uncalibrated visual servoing approach for motion control of 6-DOF manipulators. Instead of image features, we use the elements of the scene-independent trifocal tensor of three views as features. The trifocal features depend only on the camera projection matrices and can be retrieved from point correspondences across the three views: initial, current, and desired. The Jacobian matrix that relates joint velocities and variations of the trifocal features is estimated online using least-squares. We evaluate the visual servoing performance for various easy and challenging motions, such as the translational motion along the view axis and the large rotation around the view axis. Simulations with a 6-DOF eye-in-hand manipulator show that the proposed method rapidly converges in all cases.
Citation
A. Shademan, M. Jagersand. "Three-View Uncalibrated Visual Servoing". International Conference on Intelligent Robots and Systems, pp 6234-6239, October 2010.| Keywords: | 3D Vision, Robotics, Visual Servoing |
| Category: | In Conference |
| Related Publication(s): | Global Visual-Motor Estimation for Uncalibrated Visual Servoing |
| Robust Jacobian Estimation for Uncalibrated Visual Servoing |
BibTeX
@incollection{Shademan+Jagersand:IROS10,
author = {Azad Shademan and Martin Jagersand},
title = {Three-View Uncalibrated Visual Servoing},
Pages = {6234-6239},
booktitle = {International Conference on Intelligent Robots and Systems},
year = 2010,
}Last Updated: January 05, 2012Submitted by Azad Shademan
