NDLI: Model-free optimal trajectories in the image space: application to robot vision control

Content Provider	IEEE Xplore Digital Library
Author	Mezouar, Y. Chaumette, F.
Copyright Year	2001
Description	Author affiliation: IRISA, Rennes, France (Mezouar, Y.; Chaumette, F.)
Abstract	Since image-based servoing is a local control solution, it requires the definition of intermediate subgoals in the sensor space when the initial robot position is far from the desired one. This paper addresses the problem of generating and tracking realistic and optimal smooth trajectories of complex features in the image space. The model of the observed target and the internal camera parameters are assumed to be unknown. First a closed-form smooth collineation path (related to a reference plane) between given starts and end-points is obtained. This path is generated in order to correspond to an optimal camera path. The trajectories of the image features (corresponding to points belonging to or not belonging to the reference plane) are then derived and tracked using image based control.
Sponsorship	IEEE Comput. Soc. Tech. Committee on Pattern Analysis & Machine Intelligence
File Size	730071
File Format	PDF
ISBN	0769512720
ISSN	10636919
DOI	10.1109/CVPR.2001.990661
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-12-08
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Orbital robotics Robot vision systems Optimal control Robot control Cameras Path planning Trajectory Coordinate measuring machines Pixel Target tracking
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

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