NDLI: Visual Servoing Method Using Camera Self-calibration

Content Provider	IEEE Xplore Digital Library
Author	Dong-Wook Lee Se-Hoon Kim Sang-Chul Won
Copyright Year	2006
Description	Author affiliation: Dept. of Electr. and Electron. Eng., POSTECH, Pohang (Dong-Wook Lee; Se-Hoon Kim; Sang-Chul Won)
Abstract	Visual servoing is very useful for navigating robots to specific positions and orientations accurately and reliably. Unfortunately, the existing methods require accurate camera calibration tasks that are troublesome. Whenever a camera is changed or intrinsic parameters become different, we should carry out camera calibration tasks. Methods in order to cope with this problem is so called self-calibration techniques. Until now, self-calibration techniques just have considered the case of static self-calibration where these estimated intrinsic parameters are not used to control the robot. Only a few researchers have recently developed the case of dynamic self-calibration where estimated intrinsic parameters are used to control the robot. In this paper, a visual servoing procedure which is performed in parallel to a self-calibration algorithm based on simplified kruppa equations is proposed. Simulation results show that estimation of both constant and varying intrinsic parameters is efficient and the robot converge to the desired positions
Starting Page	5006
Ending Page	5010
File Size	5246501
Page Count	5
File Format	PDF
ISBN	8995003847
DOI	10.1109/SICE.2006.315094
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-18
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	The Institute of Control, Automation and Systems
Subject Keyword	Visual servoing Cameras Robot vision systems Equations Robot control Calibration Parameter estimation Computer vision Control systems Computer errors Image Based Visual Servoing Self Calibration
Content Type	Text
Resource Type	Article

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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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