3-D hand & eye-vergence approaching visual servoing with Lyapunouv-stable pose tracking

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2011, Pages 5210-5217

  Song, Wei ^a   Minami, Mamoru ^b   Yu, Fujia ^b   Zhang, Yanan ^a   Yanou, Akira ^b  

^a SHANGHAI UNIVERSITY   (China)

^b OKAYAMA UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

1-STEP GA; EYE-TRACKING; INPUT IMAGE; LOCAL MINIMUMS; MOBILE CAMERA; POSE TRACKING; SERVOING; TAYLOR EXPANSIONS; TIME DOMAIN; TRACKING METHOD; VERGENCES; VIDEO RATES; VISUAL TRACKING;

LYAPUNOV METHODS; VISUAL SERVOING;

ROBOTICS;

EID: 84871705019     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2011.5979749     Document Type: Conference Paper

References (14)

1. Nikolaos P. Papanikolopoulos, Pradeep K. Khosla, and Takeo Kanade, Visual Tracking of a Moving Target by a Camera Mounted on a Robot: A Combination of Control and Vision, IEEE Trans. on Robotics and Automation, VOL. 9, NO. I, FEBRUARY 1993.
2. R. C. Luo, R. E. Mullen Jr., and D. E. Wessel, An adaptive robotic tracking system using optical flow, Proc. IEEE Int. Conf. Robotics Automat., 1988, pp. 568-573.
3. J. T. Feddema and C.S.G. Lee, Adaptive image feature prediction and control for visual tracking with a hand-eye coordinated camera, IEEE Trans. Syst. Man Cjbern., vol. 20, no. 5, pp. 1172-1183, 1990.
4. S. Hutchinson, G. Hager, and P. Corke, A Tutorial on Visual Servo Control, IEEE Trans. on Robotics and Automation, vol. 12, no. 5, pp. 651-670, 1996.
5. E. Malis, F. Chaumentte and S. Boudet, 2-1/2-D Visual Servoing, IEEE Trans. on Robotics and Automation, vol. 15, no. 2, pp. 238-250, 1999.
6. Omar Tahri and Francois Chaumette, Point-Based and Region-Based Image Moments for Visual Servoing of Planar Objects, IEEE Tran. on Robotics, vol. 21, no. 6, Dec 2005.
7. Wolfgang Sepp, Stefan Fuchs and Gerd Hirzinger, Hierarchical Featureless Tracking for Position-Based 6-DoF Visual Servoing, Proceedings of the 2006 IEEE/RSJ Int. Conf. on Intelligent Robotics and Systems (IROS), pp.4310-4315, 2006.
8. R. Yang and Z. Zhang, Model-based head pose tracking with stereovision, Proc.5th IEEE Int. Conf. on Automatic Face and Gesture Recogniton, 2002.
9. S. Yamane, M. Izumi, K. Fukunaga, A Method of Model-Based Pose Estimation, IEICE, Vol.J79-D-2, No.2, pp.165-173, Feb, 1996.
10. Wei Song and Mamoru Minami, Stability/Precision Improvement of 6-DoF Visual Servoing by Motion Feedforward Compensation and Experimental Evaluation, IEEE Int. Conf. on Robotics and Automation (ICRA), pp.722-729, 2009.
11. Wei Song and Mamoru Minami, Hand & Eye-Vergence Dual Visual Servoing to Enhance Observability and Stability, IEEE Int. Conf. on Robotics and Automation (ICRA), pp.714-721, 2009.
12. E. Mails, Improving vision-based control using efficient second-order minimization techniques in Proceedings of IEEE International Conference on Robotics and Automation, (New Orleans, USA), pp. 1843-1848, Apr. 6-May 1, 2004.
13. S. Benhimane and E. Mails, Real-time image-based tracking of planes using efficient second-order minimization in Proceedings of IEEE/RSJ Conference on Intelligent Robot and Systems, (Sendai, Japan), pp. 1090-1097, Sep 28-Oct 2, 2004.
14. B. Siciliano and L. Villani: Robot Force Control, ISBN 0-7923-7733-8.