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Uncalibrated image-based visual servoing

Autor
Santamaria, A.; Andrade-Cetto, J.
Tipus d'activitat
Presentació treball a congrés
Nom de l'edició
2013 IEEE International Conference on Robotics and Automation (ICRA)
Any de l'edició
2013
Data de presentació
2013
Llibre d'actes
The proceedings of the 2013 IEEE International Conference on Robotics and Automation
Pàgina inicial
5247
Pàgina final
5252
DOI
https://doi.org/10.1109/ICRA.2013.6631327 Obrir en finestra nova
Projecte finançador
AERIAL ROBOTICS COOPERATIVE ASSEMBLY SYSTEM
Repositori
http://hdl.handle.net/2117/23971 Obrir en finestra nova
URL
http://dx.doi.org/10.1109/ICRA.2013.6631327 Obrir en finestra nova
Resum
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...
Citació
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.
Paraules clau
robots
Grup de recerca
VIS - Visió Artificial i Sistemes Intel.ligents

Participants