NDLI: The resolvability ellipsoid for visual servoing

Content Provider	IEEE Xplore Digital Library
Author	Nelson, B.J. Khosla, P.K.
Copyright Year	1994
Description	Author affiliation: Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA (Nelson, B.J.; Khosla, P.K.)
Abstract	This paper introduces a sensor placement measure called resolvability. The measure provides a technique for estimating the relative ability of various visual sensors, including monocular systems, stereo pairs, multi-baseline stereo systems, and 3D rangefinders, to accurately control visually manipulated objects. The resolvability ellipsoid illustrates the directional nature of resolvability, and can be used to direct camera motion and adjust camera intrinsic parameters in real-time so that the servoing accuracy of the visual servoing system improves with camera-lens motion. The Jacobian mapping from task space to sensor space is derived for a monocular system, a stereo pair with parallel optical axes, and a stereo pair with perpendicular optical axes. Resolvability ellipsoids based on these mappings for various sensor configurations are presented. Visual servoing experiments demonstrate that resolvability can be used to direct camera-lens motion in order to increase the ability of a visually servoed manipulator to precisely servo objects.<>
Starting Page	829
Ending Page	832
File Size	394497
Page Count	4
File Format	PDF
ISBN	0818658258
ISSN	10636919
DOI	10.1109/CVPR.1994.323907
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-06-21
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators, motion planning Robots, vision systems Stereo vision Servosystems
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

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