Optimal object configurations to minimize the positioning error in visual servoing

IEEE Transactions on Robotics

Volumn 26, Issue 3, 2010, Pages 584-589

  Chesi, Graziano ^a  

^a UNIVERSITY OF HONG KONG   (Hong Kong)

Author keywords

Image noise; Positioning error; Visual servoing

Indexed keywords

BARRIER FUNCTIONS; IMAGE NOISE; IMAGE POINTS; MAXIMUM ERROR; OPTIMAL POSITION; OPTIMAL SUBSETS; POSITIONING ERROR; UPPER AND LOWER BOUNDS;

FUZZY CONTROL; LINEAR MATRIX INEQUALITIES; OPTIMIZATION;

VISUAL SERVOING;

EID: 77953189619     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2010.2046071     Document Type: Article

References (21)

1. G. Chesi, "Camera displacement via constrained minimization of the algebraic error," IEEE Trans. Pattern Anal. Mach. Intell., vol.31, no.2, pp. 370-375, Feb. 2009.
2. G.Chesi, "Estimating the domain of attraction for non-polynomial systems via LMI optimizations," Automatica, vol.45, no.6, pp. 1536-1541, 2009.
3. G. Chesi, "Visual-servoing path-planning via homogeneous forms and LMI optimizations," IEEE Trans. Robot., vol.25, no.2, pp. 281-291, Apr. 2009.
4. G. Chesi, "Time-invariant uncertain systems: A necessary and sufficient condition for stability and instability via HPD-QLFs," Automatica, vol.46, no.2, pp. 471-474, 2010.
5. G. Chesi, A. Garulli, A. Tesi, and A. Vicino, Homogeneous Polynomial Forms for Robustness Analysis of Uncertain Systems. NewYork: Springer-Verlag, 2009.
6. G. Chesi and K. Hashimoto, Eds., Visual Servoing Via Advanced Numerical Methods. New York: Springer-Verlag, 2010.
7. G. Chesi, A. Tesi, A. Vicino, and R. Genesio, "On convexification of some minimum distance problems," presented at the Eur. Control Conf., Karlsruhe, Germany, 1999.
8. G. Chesi and H. L. Yung, "Performance limitation analysis in visual servo systems: Bounding the location error introduced by image points matching," in Proc. IEEE Int. Conf. Robot. Autom., Kobe, Japan, 2009, pp. 695-700.
9. P. I. Corke and S. Hutchinson, "A new partitioned approach to imagebased visual servo control," IEEE Trans. Robot. Autom., vol.17, no.4, pp. 507-515, Aug. 2001.
10. N. J. Cowan and D. E. Chang, "Geometric visual servoing," IEEE Trans. Robot., vol.21, no.6, pp. 1128-1138, Dec. 2005.
11. L. Deng, W. J. Wilson, and F. Janabi-Sharifi, "Characteristics of robot visual servoing methods and target model estimation," in Proc. IEEE Int. Symp. Intell. Control, Vancouver, BC, Canada, 2002, pp. 684-689.
12. N. Gans and S. Hutchinson, "Stable visual servoing through hybrid switched-system control," IEEE Trans. Robot., vol.23, no.3, pp. 530- 540, Jun. 2007.
13. K. Hashimoto, T. Kimoto, T. Ebine, and H. Kimura, "Manipulator control with image-based visual servo," in Proc. IEEE Int. Conf. Robot. Autom., 1991, pp. 2267-2272.
14. V. Kyrki, "Control uncertainty in image-based visual servoing," in Proc. IEEE Int. Conf. Robot. Autom., Kobe, Japan, 2009, pp. 1516- 1521.
15. V. Kyrki, D. Kragic, and H. Christensen, "Measurement errors in visual servoing," Robot. Auton. Syst., vol.54, no.10, pp. 815-827, 2006.
16. V. Kyrki, D. Kragic, and H.I. Christensen, "Measurement errors in visual servoing," in Proc. IEEE Int. Conf. Robot. Autom., New Orleans, LA, 2004, pp. 1861-1867.
17. E. Malis, "Visual servoing invariant to changes in camera-intrinsic parameters," IEEE Trans. Robot. Autom., vol.20, no.1, pp. 72-81, Feb. 2004.
18. E. Malis, F. Chaumette, and S. Boudet, "2 1/2 D visual servoing," IEEE Trans. Robot. Autom., vol.15, no.2, pp. 238-250, Apr. 1999.
19. G. Morel, P. Zanne, and F. Plestan, "Robust visual servoing: Bounding the task function tracking errors," IEEE Trans. Control Syst. Technol., vol.13, no.6, pp. 998-1009, Nov. 2005. (Pubitemid 41638151)
20. R. M. Murray, Z. Li, and S. S. Sastry, A Mathematical Introduction to Robotic Manipulation. Boca Raton, FL: CRC, 1994.
21. B. Thuilot, P. Martinet, L. Cordesses, and J. Gallice, "Position based visual servoing: Keeping the object in the field of vision," in Proc. IEEE Int. Conf. Robot. Autom., Washington, DC, 2002, pp. 1624-1629.