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Article: Visual servoing path planning for cameras obeying the unified model
Title | Visual servoing path planning for cameras obeying the unified model |
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Authors | |
Keywords | Path planning Unified model Visual servoing |
Issue Date | 2012 |
Publisher | VSP. The Journal's web site is located at http://www.tandfonline.com/toc/tadr20/current |
Citation | Advanced Robotics, 2012, v. 26 n. 8-9, p. 843-860 How to Cite? |
Abstract | This paper proposes a path planning visual servoing strategy for a class of cameras that includes conventional perspective cameras, fisheye cameras and catadioptric cameras as special cases. Specifically, these cameras are modeled by adopting a unified model recently proposed in the literature and the strategy consists of designing image trajectories for eye-in-hand robotic systems that allow the robot to reach a desired location while satisfying typical visual servoing constraints. To this end, the proposed strategy introduces the projection of the available image features onto a virtual plane and the computation of a feasible image trajectory through polynomial programming. Then, the computed image trajectory is tracked by using an image-based visual servoing controller. Experimental results with a fisheye camera mounted on a 6-d.o.f. robot arm are presented in order to illustrate the proposed strategy. © 2012 Copyright Taylor & Francis and The Robotics Society of Japan. |
Persistent Identifier | http://hdl.handle.net/10722/184504 |
ISSN | 2021 Impact Factor: 2.057 2020 SCImago Journal Rankings: 0.466 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Shen, T | en_US |
dc.contributor.author | Chesi, G | en_US |
dc.date.accessioned | 2013-07-15T09:51:59Z | - |
dc.date.available | 2013-07-15T09:51:59Z | - |
dc.date.issued | 2012 | en_US |
dc.identifier.citation | Advanced Robotics, 2012, v. 26 n. 8-9, p. 843-860 | en_US |
dc.identifier.issn | 0169-1864 | - |
dc.identifier.uri | http://hdl.handle.net/10722/184504 | - |
dc.description.abstract | This paper proposes a path planning visual servoing strategy for a class of cameras that includes conventional perspective cameras, fisheye cameras and catadioptric cameras as special cases. Specifically, these cameras are modeled by adopting a unified model recently proposed in the literature and the strategy consists of designing image trajectories for eye-in-hand robotic systems that allow the robot to reach a desired location while satisfying typical visual servoing constraints. To this end, the proposed strategy introduces the projection of the available image features onto a virtual plane and the computation of a feasible image trajectory through polynomial programming. Then, the computed image trajectory is tracked by using an image-based visual servoing controller. Experimental results with a fisheye camera mounted on a 6-d.o.f. robot arm are presented in order to illustrate the proposed strategy. © 2012 Copyright Taylor & Francis and The Robotics Society of Japan. | - |
dc.language | eng | en_US |
dc.publisher | VSP. The Journal's web site is located at http://www.tandfonline.com/toc/tadr20/current | - |
dc.relation.ispartof | Advanced Robotics | en_US |
dc.rights | This is an electronic version of an article published in Advanced Robotics, 2012, v. 26 n. 8-9, p. 843-860. The Journal article is available online at: http://www.tandfonline.com/doi/abs/10.1163/156855312X632904 | - |
dc.subject | Path planning | - |
dc.subject | Unified model | - |
dc.subject | Visual servoing | - |
dc.title | Visual servoing path planning for cameras obeying the unified model | en_US |
dc.type | Article | en_US |
dc.identifier.email | Shen, T: tiantianshen@gmail.com | en_US |
dc.identifier.email | Chesi, G: chesi@eee.hku.hk | - |
dc.identifier.authority | Chesi, G=rp00100 | en_US |
dc.description.nature | postprint | - |
dc.identifier.doi | 10.1163/156855312X632904 | - |
dc.identifier.scopus | eid_2-s2.0-84865699594 | - |
dc.identifier.hkuros | 216367 | en_US |
dc.identifier.volume | 26 | - |
dc.identifier.issue | 8-9 | - |
dc.identifier.spage | 843 | - |
dc.identifier.epage | 860 | - |
dc.identifier.isi | WOS:000306740800002 | - |
dc.publisher.place | Netherlands | - |
dc.identifier.issnl | 0169-1864 | - |