NDLI: Robustness of Image-Based Visual Servoing With a Calibrated Camera in the Presence of Uncertainties in the Three-Dimensional Structure

Content Provider	IEEE Xplore Digital Library
Author	Malis, E. Mezouar, Y. Rives, P.
Copyright Year	2004
Abstract	This paper concerns the stability analysis of image-based visual servoing control laws with respect to uncertainties on the 3-D parameters needed to compute the interaction matrix for any calibrated central catadioptric camera. In the recent past, research on image-based visual servoing has been concentrated on potential problems of stability and on robustness with respect to camera-calibration errors. Only little attention, if any, has been devoted to the robustness of image-based visual servoing to estimation errors on the 3-D structure. It is generally believed that a rough approximation of the 3-D structure is sufficient to ensure the stability of the control law. In this paper, we prove that this is not always true and that an extreme care must be taken when approximating the depth distribution to ensure stability of the image-based control law. The theoretical results are obtained not only for conventional pinhole cameras but for the entire class of central catadioptric systems as well.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	112
Ending Page	120
Page Count	9
File Size	872108
File Format	PDF
ISSN	15523098
Volume Number	26
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-02-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robustness Visual servoing Cameras Uncertainty Stability analysis Robust stability Centralized control Estimation error Control systems Intelligent robots visual servoing Image-based stability analysis
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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