NDLI: Image based visual servoing from hybrid projected features

Content Provider	IEEE Xplore Digital Library
Author	Guoqiang Ye Weiguang Li Hao Wan Huidong Lou Zhijiang Lu Shaohua Zheng
Copyright Year	2015
Description	Author affiliation: Mech. & Automotive Eng, South China Univ. of Technol., Guangzhou, China (Guoqiang Ye; Weiguang Li; Hao Wan; Huidong Lou; Zhijiang Lu; Shaohua Zheng)
Abstract	in this paper, we address the issue of hybrid visual servoing, which improve the performance of robotics system. Different from most of existing hybrid methods combining image based(IBVS) and position based(PBVS) visual servoing methods, we consider directly image features in error function, which is a robust IBVS method. In the framework of unified projection model, we select six proper features to control full-DOF motion. Invariants to rotational motion are computed with spherical projection model and used to control the translational motion, while invariants to translation motion are computed with perspective projection model and used to control the rotational motion. These hybrid projected features ensure good decoupled control between translational and rotational motions. Furtherly, two virtual moments calculated with SVM regression model are proposed to control the rotational motions around the x-axis and y-axis, which ensure improved decoupled properties. Simulation results are provided to illustrate the effectiveness and optimal performance of the proposed method.
Starting Page	1
Ending Page	6
File Size	953373
Page Count	6
File Format	PDF
ISBN	9781479986392
ISSN	21593450
e-ISBN	9781479986415
DOI	10.1109/TENCON.2015.7372900
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-01
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Three-dimensional displays Jacobian matrices Visual servoing SVM regression IBVS moment invariants decoupled control hybrid features unified projection model
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering Computer Science Applications

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