Robust Jacobian estimation for uncalibrated visual servoing

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2010, Pages 5564-5569

  Shademan, Azad ^a   Farahmand, Amir Massoud ^a   Jägersand, Martin ^a  

^a UNIVERSITY OF ALBERTA   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

BELONG TO; ESTIMATION QUALITY; EYE-IN-HAND; IMAGE-BASED; JACOBIAN ESTIMATION; JACOBIANS; LEAST SQUARE; M-ESTIMATION; M-ESTIMATORS; MATLAB SIMULATIONS; MOTOR DATA; MOTOR MODELS; ROBUST ESTIMATION; UNSTRUCTURED ENVIRONMENTS; VISUAL TRACKING;

AUTOMOBILE EXHIBITIONS; ESTIMATION; ROBOT APPLICATIONS; ROBOTICS;

VISUAL SERVOING;

EID: 77955803265     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2010.5509911     Document Type: Conference Paper

References (32)

1. S. Hutchinson, G. D. Hager, and P. I. Corke, "A tutorial on visual servo control," IEEE Trans. Robot. Automat., vol. 12, no. 5, pp. 651-670, Oct. 1996.
2. F. Chaumette and S. Hutchinson, "Visual servo control. part I: Basic approaches," IEEE Robot. Automat. Mag., vol. 13, no. 4, pp. 82-90, Dec. 2006.
3. W. J. Wilson, C. C. W. Hulls, and G. S. Bell, "Relative end-effector control using cartesian position based visual servoing," IEEE Trans. Robot. Automat., vol. 12, no. 5, pp. 684-696, October 1996.
4. B. Espiau, F. Chaumette, and P. Rives, "A new approach to visual servoing in robotics," IEEE Trans. Robot. Automat., vol. 8, no. 3, pp. 313-326, June 1992.
5. E. Malis and F. Chaumette, "Theoretical improvements in the stability analysis of a new class of model-free visual servoing methods," IEEE Trans. Robot. Automat., vol. 18, no. 2, pp. 176-186, Apr. 2002.
6. F. Chaumette and S. Hutchinson, "Visual servo control. part II: Advanced approaches [tutorial]," IEEE Robot. Automat. Mag., vol. 14, no. 1, pp. 109-118, Mar. 2007.
7. K. Hosoda and M. Asada, "Versatile visual servoing without knowledge of true jacobian," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., vol. 1, September 1994, pp. 186-193.
8. M. Jägersand, O. Fuentes, and R. Nelson, "Experimental evaluation of uncalibrated visual servoing for precision manipulation," in Proc. IEEE Int. Conf. Robot. Automat., vol. 4, April 1997, pp. 2874-2880.
9. A. M. Farahmand, A. Shademan, and M. Jägersand, "Global visual-motor estimation for uncalibrated visual servoing," in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Oct. 2007, pp. 1969-1974.
10. D. Kragic and H. I. Christensen, "Cue integration for visual servoing," IEEE Trans. Robot. Automat., vol. 17, no. 1, pp. 18-27, Feb. 2001.
11. -, "Robust visual servoing," International Journal of Robotics Research, vol. 22, no. 10-11, pp. 923-939, October-November 2003.
12. P. Preisig and D. Kragic, "Robust statistics for 3D object tracking," in Proc. IEEE International Conference on Robotics and Automation, May 2006, pp. 2403-2408.
13. A. I. Comport, D. Kragic, E. Marchand, and F. Chaumette, "Robust real-time visual tracking: Comparison, theoretical analysis and performance evaluation," in Proc. IEEE Int. Conf. Robot. Automat., Apr. 18-22, 2005, pp. 2841-2846.
14. T. T. H. Tran and E. Marchand, "Real-time keypoints matching: application to visual servoing," in Proc. IEEE Int. Conf. Robot. Automat., Apr. 10-14, 2007, pp. 3787-3792.
15. A. I. Comport, E. Marchand, and F. Chaumette, "Kinematic sets for real-time robust articulated object tracking," Image and Vision Computing, vol. 25, pp. 374-391, April 2007.
16. -, "Statistically robust 2-D visual servoing," IEEE Trans. Robot., vol. 22, no. 2, pp. 415-420, Apr. 2006.
17. F. Dionnet and E. Marchand, "Robust stereo tracking for space applications," in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, Oct. 29 - Nov 2 2007, pp. 3373-3378.
18. E. Malis, F. Chaumette, and S. Boudet, "2-1/2-d visual servoing," IEEE Trans. Robot. Automat., vol. 15, no. 2, pp. 238-250, Apr. 1999.
19. C. J. Taylor and J. P. Ostrowski, "Robust vision-based pose control," in Proc. IEEE Int. Conf. Robot. Automat., vol. 3, Apr. 24-28, 2000, pp. 2734-2740.
20. H. Wang, Y.-H. Liu, and D. Zhou, "Adaptive visual servoing using point and line features with an uncalibrated eye-in-hand camera," IEEE Trans. Robot., vol. 24, no. 4, pp. 843-857, Aug. 2008.
21. G. Hu, W. MacKunis, N. Gans, W. E. Dixon, J. Chen, A. Behal, and D. Dawson, "Homography-based visual servo control with imperfect camera calibration," IEEE Trans. Automat. Contr., vol. 54, no. 6, pp. 1318-1324, June 2009.
22. J. T. Lapreste, F. Jurie, M. Dhome, and F. Chaumette, "An efficient method to compute the inverse jacobian matrix in visual servoing," in Proc. IEEE Int. Conf. Robot. Automat., vol. 1, 2004, pp. 727-732.
23. P. J. Rousseeuw and A. M. Leroy, Robust regression and outlier detection. New York, NY: USA: John Wiley and Sons, Inc., 1987.
24. F. R. Hampel, E. M. Ronchetti, P. J. Rousseeuw, and W. A. Stahel, Robust Statistics: The Approach Based on Influence Functions, ser. Wiley series in probability and mathematical statistics. New York, NY: John Wiley and Sons, Inc., 1986.
25. P. J. Huber, Robust Statistics, ser. Wiley Series in Probability and Mathematical Statistics. New York, NY, USA: Wiley-IEEE, 1981.
26. C. Collewet and F. Chaumette, "Using robust estimation for visual servoing based on dynamic vision," in Proc. IEEE Int. Conf. Robot. Automat., Apr. 10-14, 2007, pp. 2835-2840.
27. M. Black and A. Jepson, "Eigentracking: Robust matching and tracking of articulated objects using a view-based representation," Int. J. Comput. Vision, vol. 36, no. 2, pp. 101-130, 1998.
28. P. Corke, "A robotics toolbox for MATLAB," IEEE Robot. Automat. Mag., vol. 3, no. 1, pp. 24-32, Mar. 1996.
29. G. Mariottini and D. Prattichizzo, "EGT: a toolbox for multiple view geometry and visual servoing," IEEE Robot. Automat. Mag., vol. 3, no. 12, December 2005.
30. S. Leonard. openman: An open source C++ toolbox for control and simulations of manipulators. [Online]. Available: http://sourceforge.net/ projects/openman/
31. E. Marchand, F. Spindler, and F. Chaumette, "ViSP for visual servoing: a generic software platform with a wide class of robot control skills," IEEE Robot. Automat. Mag., vol. 12, no. 4, pp. 40-52, Dec. 2005.
32. A. M. Farahmand, A. Shademan, M. Jägersand, and C. Szepesvari, "Model-based and model-free reinforcement learning for visual servoing," in Proc. IEEE Int. Conf. Robot. Automat., May 12-17, 2009, pp. 2917-2924.