Title :
A simple technique for improving camera displacement estimation in eye-in-hand visual servoing
Author :
Chesi, Graziano ; Hashimoto, Koichi
Author_Institution :
Dept. of Inf. Eng., Siena Univ., Italy
Abstract :
A simple technique for estimating the camera displacement from point correspondences in eye-in-hand visual servoing is presented. The idea for providing more accurate results than existing methods consists of taking into account that the point correspondences used during the camera motion correspond to stationary spatial points, hence exploiting additional information, This is done by first estimating the object Euclidean structure and then estimating the camera displacement from this estimate.
Keywords :
cameras; computer vision; image coding; motion estimation; random noise; singular value decomposition; Euclidean structure; camera displacement estimation; camera motion; essential matrix algorithm; eye-in-hand visual servoing; homography matrix algorithm; image coordinate quantization; random noise; Cameras; Closed-form solution; Displacement control; Error correction; Estimation error; Feedback; Jacobian matrices; Measurement uncertainty; Stability; Visual servoing; Index Terms- Computer vision; camera displacement estimation.; visual servoing; Algorithms; Artificial Intelligence; Computer Simulation; Feedback; Hand; Humans; Image Enhancement; Image Interpretation, Computer-Assisted; Information Storage and Retrieval; Models, Biological; Models, Statistical; Movement; Ocular Physiology; Pattern Recognition, Automated; Photography; Reproducibility of Results; Sensitivity and Specificity; Subtraction Technique; Visual Perception;
Journal_Title :
Pattern Analysis and Machine Intelligence, IEEE Transactions on
DOI :
10.1109/TPAMI.2004.56
