File Download
There are no files associated with this item.
Links for fulltext
(May Require Subscription)
- Publisher Website: 10.5220/0005960400470056
- Scopus: eid_2-s2.0-85013104683
- WOS: WOS:000392610900004
Supplementary
- Citations:
- Appears in Collections:
Conference Paper: Following a straight line in visual servoing with elliptical projections
Title | Following a straight line in visual servoing with elliptical projections |
---|---|
Authors | |
Keywords | Elliptical Projection Path Planning Visual Servoing |
Issue Date | 2016 |
Publisher | SciTePress. |
Citation | Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2016), Lisbon, Portugal, 29-31 July 2016, v. 1, p. 47-56 How to Cite? |
Abstract | The problem of visual servoing to reach the desired location keeping elliptical projections in the camera field of view (FOV) while following a straight line is considered. The proposed approach is representing the whole path with seven polynomials of a path abscise: variables in polynomial coefficients for translational path being zero to represent a minimum path length and for rotational part being adjustable satisfying the FOV limit. The planned elliptical trajectories are tracked by an image-based visual servoing (IBVS) controller. The proposed strategy is verified by a simulational case with a circle and a superposed point, where a traditional IBVS controller directs the camera a detour to the ground, the proposed approach however keeps straight the camera trajectory and also the circle visible. In addition, a six degrees of freedom (6-DoF) articulated arm mounted with a pinhole camera is used to validate the proposed method by taking three Christmas balls as the target. |
Persistent Identifier | http://hdl.handle.net/10722/242351 |
ISBN | |
ISI Accession Number ID |
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Shen, T | - |
dc.contributor.author | Chesi, G | - |
dc.date.accessioned | 2017-07-24T01:38:37Z | - |
dc.date.available | 2017-07-24T01:38:37Z | - |
dc.date.issued | 2016 | - |
dc.identifier.citation | Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2016), Lisbon, Portugal, 29-31 July 2016, v. 1, p. 47-56 | - |
dc.identifier.isbn | 978-989-758-198-4 | - |
dc.identifier.uri | http://hdl.handle.net/10722/242351 | - |
dc.description.abstract | The problem of visual servoing to reach the desired location keeping elliptical projections in the camera field of view (FOV) while following a straight line is considered. The proposed approach is representing the whole path with seven polynomials of a path abscise: variables in polynomial coefficients for translational path being zero to represent a minimum path length and for rotational part being adjustable satisfying the FOV limit. The planned elliptical trajectories are tracked by an image-based visual servoing (IBVS) controller. The proposed strategy is verified by a simulational case with a circle and a superposed point, where a traditional IBVS controller directs the camera a detour to the ground, the proposed approach however keeps straight the camera trajectory and also the circle visible. In addition, a six degrees of freedom (6-DoF) articulated arm mounted with a pinhole camera is used to validate the proposed method by taking three Christmas balls as the target. | - |
dc.language | eng | - |
dc.publisher | SciTePress. | - |
dc.relation.ispartof | International Conference on Informatics in Control | - |
dc.subject | Elliptical Projection | - |
dc.subject | Path Planning | - |
dc.subject | Visual Servoing | - |
dc.title | Following a straight line in visual servoing with elliptical projections | - |
dc.type | Conference_Paper | - |
dc.identifier.email | Chesi, G: chesi@eee.hku.hk | - |
dc.identifier.authority | Chesi, G=rp00100 | - |
dc.identifier.doi | 10.5220/0005960400470056 | - |
dc.identifier.scopus | eid_2-s2.0-85013104683 | - |
dc.identifier.hkuros | 273426 | - |
dc.identifier.volume | 1 | - |
dc.identifier.spage | 47 | - |
dc.identifier.epage | 56 | - |
dc.identifier.isi | WOS:000392610900004 | - |
dc.publisher.place | Portugal | - |