NDLI: A switching approach to visual servo control

Content Provider	IEEE Xplore Digital Library
Author	Gans, N.R. Hutchinson, S.A.
Copyright Year	2002
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Illinois Univ., Urbana, IL, USA (Gans, N.R.; Hutchinson, S.A.)
Abstract	In the recent past, many researchers have developed control algorithms for visual servo applications. In this paper we introduce a new switching approach, in which a high-level decision maker determines which of two low level visual servo controllers should be used at each control cycle. We introduce two new low-level controllers, one that relies on the homography between initial and goal images, and one that uses an affine transformation to approximate the motion between initial and goal camera configurations. Since an affine transformation can only approximate a restricted set of camera motions, this choice of low-level controllers illustrates the strength of the switching approach. We evaluated our approach with several simulations using three candidate switching rules. Although our results are preliminary, we believe that the proposed method is very promising for visual servo tasks in which there is a significant distance between the initial and goal configurations.
Starting Page	770
Ending Page	776
File Size	761645
Page Count	7
File Format	PDF
ISBN	078037620X
ISSN	21589860
DOI	10.1109/ISIC.2002.1157859
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-10-30
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Servosystems Control systems Servomechanisms Jacobian matrices Cameras Switches Motion control Robots Gallium nitride Application software
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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