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Uncalibrated image-based visual servoing

Author
Santamaria, A.; Andrade-Cetto, J.
Type of activity
Presentation of work at congresses
Name of edition
2013 IEEE International Conference on Robotics and Automation (ICRA)
Date of publication
2013
Presentation's date
2013
Book of congress proceedings
The proceedings of the 2013 IEEE International Conference on Robotics and Automation
First page
5247
Last page
5252
DOI
https://doi.org/10.1109/ICRA.2013.6631327 Open in new window
Project funding
AERIAL ROBOTICS COOPERATIVE ASSEMBLY SYSTEM
Repository
http://hdl.handle.net/2117/23971 Open in new window
URL
http://dx.doi.org/10.1109/ICRA.2013.6631327 Open in new window
Abstract
This paper develops a new method for uncalibrated image-based visual servoing. In contrast to traditional image-based visual servo, the proposed solution does not require a known value of camera focal length for the computation of the image Jacobian. Instead, it is estimated at run time from the observation of the tracked target. The technique is shown to outperform classical visual servoing schemes in situations with noisy calibration parameters and for unexpected changes in the camera zoom. Th...
Citation
Santamaria, A.; Andrade-Cetto, J. Uncalibrated image-based visual servoing. A: IEEE International Conference on Robotics and Automation. "The proceedings of the 2013 IEEE International Conference on Robotics and Automation". Karlsruhe: 2013, p. 5247-5252.
Keywords
robots
Group of research
VIS - Artificial Vision and Intelligent Systems

Participants