Journal ArticleDOI
Visual servo control. I. Basic approaches
François Chaumette,Seth Hutchinson +1 more
- Vol. 13, Iss: 4, pp 82-90
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This paper is the first of a two-part series on the topic of visual servo control using computer vision data in the servo loop to control the motion of a robot using basic techniques that are by now well established in the field.Abstract:
This paper is the first of a two-part series on the topic of visual servo control using computer vision data in the servo loop to control the motion of a robot. In this paper, we describe the basic techniques that are by now well established in the field. We first give a general overview of the formulation of the visual servo control problem. We then describe the two archetypal visual servo control schemes: image-based and position-based visual servo control. Finally, we discuss performance and stability issues that pertain to these two schemes, motivating the second article in the series, in which we consider advanced techniquesread more
Citations
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Computer vision : a modern approach = 计算机视觉 : 一种现代的方法
David Forsyth,Jean Ponce +1 more
TL;DR: Comprehensive and up-to-date, this book includes essential topics that either reflect practical significance or are of theoretical importance and describes numerous important application areas such as image based rendering and digital libraries.
Journal ArticleDOI
Intelligent multi-camera video surveillance: A review
TL;DR: This paper reviews the recent development of relevant technologies from the perspectives of computer vision and pattern recognition, and discusses how to face emerging challenges of intelligent multi-camera video surveillance.
Journal ArticleDOI
Pose Estimation for Augmented Reality: A Hands-On Survey
TL;DR: This paper aims at presenting a brief but almost self-contented introduction to the most important approaches dedicated to vision-based camera localization along with a survey of several extension proposed in the recent years.
Journal ArticleDOI
Short survey: Dual arm manipulation-A survey
Christian Smith,Yiannis Karayiannidis,Lazaros Nalpantidis,Xavi Gratal,Peng Qi,Dimos V. Dimarogonas,Danica Kragic +6 more
TL;DR: This review aims to summarize the current state of the art from the heterogenous range of fields that study the different aspects of these problems specifically in dual arm manipulation.
References
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Journal ArticleDOI
Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography
TL;DR: New results are derived on the minimum number of landmarks needed to obtain a solution, and algorithms are presented for computing these minimum-landmark solutions in closed form that provide the basis for an automatic system that can solve the Location Determination Problem under difficult viewing.
Book
Nonlinear Control Systems
Alberto Isidori,M. Thoma,Eduardo D. Sontag,B. W. Dickinson,A. Fettweis,J. L. Massey,J. W. Modestino +6 more
TL;DR: In this paper, a systematic feedback design theory for solving the problems of asymptotic tracking and disturbance rejection for linear distributed parameter systems is presented, which is intended to support the development of flight controllers for increasing the high angle of attack or high agility capabilities of existing and future generations of aircraft.
Computer vision : a modern approach = 计算机视觉 : 一种现代的方法
David Forsyth,Jean Ponce +1 more
TL;DR: Comprehensive and up-to-date, this book includes essential topics that either reflect practical significance or are of theoretical importance and describes numerous important application areas such as image based rendering and digital libraries.
Journal ArticleDOI
A tutorial on visual servo control
TL;DR: This article provides a tutorial introduction to visual servo control of robotic manipulators by reviewing the prerequisite topics from robotics and computer vision, including a brief review of coordinate transformations, velocity representation, and a description of the geometric aspects of the image formation process.