NDLI: Uncalibrated dynamic visual servoing using line features

Content Provider	IEEE Xplore Digital Library
Author	Hesheng Wang Yun-Hui Liu Zhongli Wang
Copyright Year	2008
Description	Author affiliation: Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Hong Kong (Hesheng Wang; Yun-Hui Liu; Zhongli Wang)
Abstract	This paper presents a novel adaptive controller for image-based visual servoing of robots with an uncalibrated eye-in-hand camera using line features. The controller is developed based on three key ideas. First, we propose a new method that is similar to the Plucker coordinates, to represent projections of the lines features. The new representation leads to a depth-independent image Jacobian matrix and an error vector between real images and estimated projections of the lines, which are both linear to the unknown camera parameters. Second, an adaptive algorithm is developed to estimate the unknown camera parameters and the 3-D coordinates of the lines on-line. Third, a simple controller using the depth-independent image Jacobian is designed to control the projections of the lines to desired positions and orientations. The Lyapunov theory is used to prove the asymptotic convergence of the image error to zero based on the nonlinear robot dynamics. Finally, experiments have been conducted to demonstrate the performance of the proposed approach.
Starting Page	3046
Ending Page	3051
File Size	531622
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650718
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Robot kinematics Robots Visual servoing Robot vision systems Manipulator dynamics Vectors Line Feature Visual Servoing Uncalibrated
Content Type	Text
Resource Type	Article

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