NDLI: Trajectory generation for obstacle avoidance of uncalibrated stereo visual servoing without 3D reconstruction

Content Provider	IEEE Xplore Digital Library
Author	Hosoda, K. Sakamoto, K. Asada, M.
Copyright Year	1995
Description	Author affiliation: Fac. of Eng., Osaka Univ., Japan (Hosoda, K.; Sakamoto, K.; Asada, M.)
Abstract	In this paper, a trajectory generator for a visual servoing system is proposed to make the system accomplish obstacle avoidance tasks in unknown environments. Using an estimated epipolar constraint, the proposed scheme can generate trajectories for the visual servoing system on the 2D image planes by a simple obstacle avoidance method without reconstructing 3D geometry. The proposed scheme is based on the idea, "as long as one of the projected trajectories does not intersect with projected obstacles, the trajectory in 3D space can avoid the obstacles". An experimental result is shown to demonstrate the validity of a combination of the proposed trajectory generator and the visual servoing control scheme.
Starting Page	29
Ending Page	34
File Size	795298
Page Count	6
File Format	PDF
ISBN	0818671084
DOI	10.1109/IROS.1995.525771
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-08-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visual servoing Jacobian matrices Cameras Image sampling Feature extraction Data mining H infinity control Stability
Content Type	Text
Resource Type	Article

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Trajectory generation for obstacle avoidance of uncalibrated stereo visual servoing without 3D reconstruction