NDLI: Optimal Object Configurations to Minimize the Positioning Error in Visual Servoing

Content Provider	IEEE Xplore Digital Library
Author	Chesi, G.
Copyright Year	2004
Abstract	Image noise unavoidably affects the available image points that are used in visual-servoing schemes to steer a robot end-effector toward a desired location. As a consequence, letting the image points in the current view converge to those in the desired view does not ensure that the camera converges accurately to the desired location. This paper investigates the selection of object configurations to minimize the worst-case positioning error due to the presence of image noise. In particular, a strategy based on linear matrix inequalities (LMIs) and barrier functions is proposed to compute upper and lower bounds of this error for a given maximum error of the image points. This strategy can be applied to problems such as selecting an optimal subset of object points or determining an optimal position of an object in the scene. Some examples illustrate the use of the proposed strategy in such problems.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	584
Ending Page	589
Page Count	6
File Size	379038
File Format	PDF
ISSN	15523098
Volume Number	26
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-06-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visual servoing Robot vision systems Image converters Layout Cameras Acoustical engineering Linear matrix inequalities Machine vision Robot control Motion control visual servoing Image noise positioning error
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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