NDLI: Robotic Visual Servoing Around a Static Target: An Example of Controlled Active Vision

Content Provider	IEEE Xplore Digital Library
Author	Papanikolopoulos, N. P. Khosla, P. K.
Copyright Year	1992
Description	Author affiliation: Department of Electrical and Computer Engineering, The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213 (Papanikolopoulos, N. P.; Khosla, P. K.)
Abstract	This paper addresses the problem of robotic visual servecing (eye-in-hand configuration) around a static rigid target. The objective is to move the image projections of certain feature points of the static rigid target to some deisred image positions. The eye-in-hand configuration consists of a CCD camera mounted on the end-effector of the robotic manipulator to provide visual measurements of the motion of the target's features. The vision algorithm is based on a cross-correlation technique, called SSD optical flow. The camera model introduces a number of parameters that must be estimated on-line. An adaptive control algorithm compensates for the Servcing errors and the computational delays which are introduced by the time-consuming vision algorithms. Stability issues along with issues concerning the minimum number of required feature points are discussed. Experimental results are presented to verify the validity and the efficacy of the proposed algorithms.
Starting Page	1489
Ending Page	1495
File Size	693278
Page Count	7
File Format	PDF
ISBN	0780302109
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1992-06-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Robot vision systems Visual servoing Cameras Charge coupled devices Charge-coupled image sensors Manipulators Motion measurement Image motion analysis Adaptive control Error correction
Content Type	Text
Resource Type	Article

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