Tracking a moving target with model independent visual servoing: A predictive estimation approach

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 1998, Pages 2652-2657

  Piepmeier, Jenelle Armstrong ^a   Mcmurray, Gary V ^b   Lipkin, Harvey ^a   Woodruff, George W ^a  

^a GEORGIA INSTITUTE OF TECHNOLOGY   (United States)

^b GEORGIA TECH RESEARCH INSTITUTE   (United States)

Author keywords

Cameras; Feedback; Kinematics; Nonlinear filters; Predictive models; Robot control; Robot vision systems; Servosystems; Target tracking; Visual servoing

Indexed keywords

CAMERAS; CLUTTER (INFORMATION THEORY); FEEDBACK; KINEMATICS; NONLINEAR FILTERING; PNEUMATIC CONTROL EQUIPMENT; ROBOTICS; ROBOTS; SERVOMECHANISMS; TARGET TRACKING; VISUAL COMMUNICATION; ALGORITHMS; COMPUTER VISION; MATHEMATICAL MODELS; MOTION CONTROL; PREDICTIVE CONTROL SYSTEMS; TRACKING (POSITION);

MODEL INDEPENDENT; PREDICTIVE ESTIMATION; PREDICTIVE FILTER; PREDICTIVE MODELS; ROBOT CONTROLS; ROBOT VISION SYSTEMS; TARGET PREDICTION; VISUAL SERVO CONTROL;

VISUAL SERVOING; MOBILE ROBOTS;

PREDICTIVE ESTIMATION; ROBOT VISUAL SERVOING (RVS);

EID: 0031625325     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.1998.680746     Document Type: Conference Paper

References (17)

1. P.K. Allen, A. Timcenko, B. Yoshimi, and P. Michelman. Automated tracking and grasping of a moving object with a robotic hand-eye system. IEEE Transactions on Robotics and Automation, 2(2): 152-165, April 1993.
2. D. Bennett, D. Geiger, and J.M. Hollerbach. Autonomous robot calibration for hand-eye coordination. The International Journal of Robotics Research, 10(5):550-559, October 1991.
3. F. Chaumette and A. Santos. Tracking a moving object by visual servoing. In IF AC 12th Tri-ennial World Congress, pages 643-648, Sydney, Australia, July 1993.
4. P.I. Corke. Visual Control of Robots: high- performance visual servoing. Research Studies Press Ltd., 1996.
5. J.E. Dennis and R.B. Schnabel. Numerical Methods for Unconstrained Optimization and Nonlinear Equations. Prentice-Hall, Englewood Cliffs, New Jersey, 1983.
6. B. Espiau, F. Chaumette, and P. Rives. A new approach to visual servoing in robotics. IEEE Transactions on Robotics and Automation, 8(3):313- 326, June 1992.
7. N. Hollinghurst and R. Cipolla. Uncalibrated stereo hand-eye coordination. Technical Report CUED/F-INFENG/TR126, Department of Engineering, University of Cambridge.
8. K. Hosoda and M. Asada. Versatile visual servoing without knowledge of true jacobian. In IEEE/RSJ'/GI International Conference on Intelligent Robots and Systems, pages 186-193, 1994.
9. S. Hutchison, G.D.Eager, and P.I. Corke. A tutorial on visual servo control. IEEE Transactions on Robotics and Automation, 12(5):651-670, October 1996.
10. M. Jagersand. Visual servoing using trust region methods and estimation of the full coupled visual- motor jacobian. Irt IASTED Applications of Robotics and Control. 1996.
11. M. Jagersand, O. Fuentes, and R. Nelson. Experimental evaluation of uncalibrated visula servoing for precision manipulation. In Proceedings of International Conference on Robotics and Automation, 1997.
12. P.R. Kalata. The tracking index: A generalized parameter for a -0 and a - 0 - 7 target trackers. IEEE Transactions on Aerospace and Electronic Systems, pages 174-182, 1984.
13. N. Papanikolopoulos and P. Khosla. Robotic visual servoing around a static target: An example of controlled active vision. In Proceedings of the 1992 American Control Conference, pages 1489-1494, 1992.
14. J.A. Piepmeier, H. Lipkin, and G.V. McMurray. A predictive estimation approach to model independent visual servoing. In To Appear in Proceedings of Robotics98, Alburquerque, New Mexico, 1998.
15. L.E. Scales. Introduction to Non-Linear Optimization. Springer- Verlag, New York, 1985.
16. R. Sharma, J-Y. Herve, and Peter Cucka. Dynamic robot manipulation using visual tracking. In Proceedings of the 1992 EEE International Conference OnRobotics and Automation, pages 1844-1849, Nice, France, 1992.
17. S.W. Wijesoma, D.F.H. Wolfe, and R.J. Richards. Eye-to-hand coordination for vision-guided robot control applications;. International Journal of Robotics Research, 12(1):65-78, February 1993.