Uncalibrated visual servoing using the fundamental matrix

Robotics and Autonomous Systems

Volumn 57, Issue 1, 2009, Pages 1-10

  Sebastian J M ^a   Pari, L ^a   Angel, L ^b   Traslosheros, A ^a  

^a ETS Ingenieros de Telecomunicacion   (Spain)

^b UNIVERSIDAD PONTIFICIA BOLIVARIANA   (Colombia)

Author keywords

Fundamental matrix; Jacobian estimation; Visual servoing

Indexed keywords

CONTROL THEORY; IMAGE SEGMENTATION;

FIXED CAMERAS; FUNDAMENTAL MATRIX; FUNDAMENTAL MATRIXES; IMAGE FEATURES; IMAGE JACOBIANS; JACOBIAN ESTIMATION; JOINT SYSTEMS; JOINT VELOCITIES; NEW ALGORITHMS; VISUAL CONTROLS;

VISUAL SERVOING;

EID: 56349109445     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2008.04.002     Document Type: Article

References (23)

1. M. Asada, T. Tanaka, K. Hosoda, Adaptive binocular visual servoing for independently moving target tracking, in: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA'00, San Francisco, USA, 2000, pp. 2076-2081
2. Chaumette F., and Hutchinson S. Visual servo control part I: Basic approaches. IEEE Robotics & Autonomous Magazine 13 4 (2006) 82-90
3. Chaumette F., and Hutchinson S. Visual servo control part II: Advanced approaches. IEEE Robotics & Autonomous Magazine 14 1 (2007) 109-118
4. Corke P.I. Visual Control of Robots: High Performance Visual Servoing (1996), Research Studies Press
5. Z. Deng, M. Jägersand, Evaluation of model independent image-based visual servoing, in: Canadian Conference on Computer and Robot Vision, Ontario, Canada, 2004, pp. 138-144
6. Faugeras O., and Luong Q.T. The Geometry of Multiple Images (2001), The Massachusetts Institute of Technology Press
7. Geschke C. A system for programming and controlling sensor-based robot manipulators. IEEE Transactions on Robotics and Automation 10 (1981) 681-698
8. Hager G.D. A modular system for robust positioning using feedback from stereo vision. IEEE Transactions on Robotics and Automation 13 4 (1997) 582-595
9. Hartley R.I. In defence of the eight-point algorithm. IEEE Transactions on Pattern Analysis and Machine Intelligence 19 6 (1997) 580-593
10. Hartley R., and Zisserman A. Multiple View Geometry in Computer Vision (2000), Cambridge University Press
11. J. Hill, W.T. Park, Real-time control of a robot with a mobile camera, in: Proc. 9th ISIR, Washington, DC, 1979, pp. 233-246
12. Hutchinson S.A., Hager G.D., and Corke P.I. A tutorial on visual servo control. IEEE Transactions Robotics and Automation 12 (1996) 651-670
13. Kragic D., and Christensen H.I. Advances in robot vision. Robotics and Autonomous Systems 52 1 (2005) 1-3
14. D. Kragic, H.I. Christensen, Survey on visual servoing for manipulation, Technical Report ISRN KTH/NA/P-02/01-Sen, CVAP259, 2002
15. B. Lamiroy, B. Espiau, N. Andreff, R. Horaud, Controlling robots with two cameras: How to do it properly, in: Proceedings of the International Conference on Robotics and Automation, ICRA'00, San Francisco, USA, 2000, pp. 2100-2105
16. Malis E., Chaumette F., and Bouder S. 2 frac(1, 2) D visual servoing. IEEE Transactions on Robotics and Automation 15 2 (1999) 234-246
17. Piepmeier J.A., McMurray G.V., and Lipkin H. Uncalibrated dynamic visual servoing. IEEE Transactions on Robotics and Automation 20 1 (2004) 143-147
18. J. Qian, J. Su, Online estimation of image Jacobian Matrix by Kalman-Bucy filter for uncalibrated Stereo Vision feedback, in: International Conference on Robotics & Automation, ICRA'02, Washington DC, USA, 2002, pp. 562-567
19. Sebastián J.M., Pari L., González C., and Ángel L. A New Method for the Estimation of the Image Jacobian for the Control of an Uncalibrated Joint System. Lecture Notes in Computer Science vol. 3522 (2005), Springer-Verlag 631-638
20. Shirai Y., and Inoue H. Guiding a robot by visual feedback in assembling tasks. Pattern Recognition 5 (1973) 99-108
21. Sutanto H., Sharma R., and Varma V. The role of exploratory movement in visual servoing without calibration. Robotics and Autonomous Systems 23 (1998) 153-169
22. L. Weiss, Dynamic Visual servo control of robots: an adaptive image based approach, Ph.D. Thesis, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 1984
23. Weiss L., Sanderson A.C., and Neuman C.P. Dynamic visual servo control of robots. IEEE Journal on Robotics and Automation 3 5 (1987) 404-417