Global performance evaluation of image features for visual servo control

Journal of Robotic Systems

Volumn 13, Issue 4, 1996, Pages 243-258

  Sutanto, Herry ^a   Sharma, Rajeev ^a  

^a UNIVERSITY OF ILLINOIS AT URBANA CHAMPAIGN   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

APPROXIMATION THEORY; COMPUTER VISION; FEATURE EXTRACTION; IMAGE ANALYSIS; NUMERICAL METHODS;

IMAGE FEATURES; VISUAL SERVO TASKS;

SERVOMECHANISMS;

EID: 0030128171     PISSN: 07412223     EISSN: None     Source Type: Journal    
DOI: 10.1002/(SICI)1097-4563(199604)13:4<243::AID-ROB5>3.0.CO;2-R     Document Type: Review

References (32)

1. P. I. Corke, "Visual control of robot manipulators - A review." In K. Hashimoto, ed., Visual Servoing, World Scientific, 1993, pp. 1-32.
2. A. J. Koivo and N. Houshangi, "Real-time vision feedback for servoing robotic manipulator with selftuning controller." IEEE Trans. Syst. Man. Cybern. 21, 134-142, 1991.
3. R. Sharma, J-Y. Hervé, and P. Cucka, "Dynamic robot manipulation using visual tracking." Proc. IEEE Int. Conf. Rob. Autom. May, 1844-1849, 1992.
4. S. B. Skaar, W. H. Brockman, and W. S. Jang, "Three-dimensional camera space manipulation." Int. J. Rob. Res. 9(4), 22-39, 1990.
5. S. W. Wijesoma, D. F. H. Wolfe, and R. J. Richards, "Eye-to-hand coordination for vision-guided robot control applications." Int. J. Rob. Res. 12(1), 65-78, 1993.
6. J. T. Feddema and O. R. Mitchell, "Vision-guided servoing with feature-based trajectory generation." IEEE Trans. Rob. Autom. 5, 691-700, 1989.
7. N. P. Papanikolopoulos, P. K. Khosla, and T. Kanade, "Visual tracking of a moving target by a camera mounted on a robot: A combination of vision and control." IEEE Trans. Rob. Autom., 9(1), 14-35, 1993.
8. L. E. Weiss, A. C. Sanderson, and C. P. Neuman, "Dynamic sensor-based control of robots with visual feedback." IEEE J. Rob. Autom. 3, 404-417, 1987.
9. A. C. Sanderson and L. E. Weiss, "Adaptive visual servo control of robots." In A. Pugh, ed., Robot Vision, IFS Publications, Bedford, UK, 1983.
10. K. Hashimoto, T. Kimoto, T. Ebine, and H. Kimura, "Manipulator control with image-based visual servo." Proc. IEEE Int. Conf. Rob. Autom., 1991, pp. 2267-2271.
11. R. Sharma and H. Sutanto, "Unifying configuration space and sensor space. A novel framework for vision-based motion planning." Technical Report UIUC-BI-AI-RCV-95-06, University of Illinois at Urbana-Champaign, July 1995.
12. B. Espiau, F. Chaumette, and P. Rives. "A new approach to visual servoing in robotics." IEEE Trans. Rob. Autom., 8, 313-326, 1992.
13. J. T. Feddema, C. S. George Lee, and O. R. Mitchell. "Weighted selection of image features for resolved rate visual feedback control." IEEE Trans. Rob. Autom., 7, 31-47, 1991.
14. R. L. Andersson, A Robot Ping-Pong Player: Experiment in Real-Time Intelligent Control, MIT Press, Cambridge, MA, 1988.
15. M. Lei and B. K. Ghosh, "Visually-guided robotic motion tracking." Proc. Annu. Alkrton Conf. Commun. Control Comput., 1992, pp. 712-721.
16. B. Yoshimi and P. K. Allen, "Active, uncalibrated visual servoing." Proc. IEEE Int. Conf. Rob. Autom., San Diego, CA, May 1994, pp. 156-161.
17. G. D. Hager, "Real-time feature tracking and projective invariance as a basis for hand-eye coordination." Proc. IEEE Conf. Comput. Pattern Recog., 1994, pp. 533-539.
18. T. Yoshikawa, "Manipulability of robotic mechanisms." Int. J. Rob. Res., 4(2), 3-9, 1985.
19. J-O. Kim and P. K. Khosla, "Dexterity measures for design and control of manipulators." Proc. IEEE/RSJ Int. Workshop Intell. Rob. Syst., 1991, pp. 758-763.
20. J. K. Salisbury and J. J. Craig, "Articulated hands: Force control and kinematics issues." Int. J. Rob. Res., 1(1), 4-17, 1982.
21. H. Asada, "A geometric representation of manipulator dynamics and its application to arm design," J. Dyn. Syst. Meas. Control, 5(105), 131-135, 1983.
22. O. Ma and J. Angeles, "The concept of dynamic isotropy and its applications to inverse kinematics and trajectory planning." Proc. IEEE Int. Conf. Rob. Autom., 1990, pp. 481-486.
23. O. Ma and J. Angeles, "Optimum design of manipulators under dynamic isotropy conditions." Proc. IEEE Int. Conf. Rob. Autom., 1993, pp. 470-475.
24. R. Sharma and S. Hutchinson, "Optimizing hand/eye configuration for visual-servo systems." Proc. IEEE Int. Conf. Rob. Autom., May 1995, pp. 172-177.
25. C. Gosselin and J. Angeles, "A global performance index for the kinematic optimization of robotic manipulators." Trans. ASME, 113, 220-226, 1991.
26. R. Sharma and S. Hutchinson, "On the observability of robot motion under active camera control." Proc. IEEE Int. Conf. Rob. Autom. May 1994, pp. 162-167.
27. B. Nelson and P. K. Khosla, "Increasing the tracking region of an eye-in-hand system by singularity and joint limit avoidance." Proc. IEEE Int. Conf. Rob. Autom., 1993, pp. 418-423.
28. M. Sampei and K. Furuta, "Robot control in the neighborhood of singular points." IEEE Trans. Rob. Autom., 4(3), 303-309, 1988.
29. S. J. Remis and M. M. Stanišić, "Design of a singularity-free articulated arm subassembly." IEEE Trans. Rob. Autom., 9(6), 816-824, 1993.
30. B. K. P. Horn, Robot Vision, MIT Press, Cambridge, MA, 1986.
31. M. Spong and I. Vidyasagar, Robot Dynamics and Con-trol, John Wiley, New York, 1989.
32. R. Courant and F. John, Introduction to Calculus and Analysis, Springer-Verlag, New York, 1989.