DocumentCode
324134
Title
Toward 3D uncalibrated monocular visual servo
Author
Bishop, Bradley E. ; Spong, Mark W.
Author_Institution
US Naval Acad., Annapolis, MD, USA
Volume
3
fYear
1998
fDate
16-20 May 1998
Firstpage
2664
Abstract
This work is an initial step toward combining control theory with computer vision for the case of uncalibrated monocular (or single-camera) three-dimensional manipulation. We investigate an achievable control goal using a novel image measure and derive a sampled-data control system that results in quick convergence of the end-effector trajectory to a depth-invariant velocity subspace in the camera coordinate frame. We also discuss how this uncalibrated behavior can be used to perform online calibration
Keywords
calibration; convergence; manipulator dynamics; optical tracking; real-time systems; robot vision; sampled data systems; servomechanisms; 3D manipulators; computer vision; convergence; motion control; online calibration; sampled-data system; uncalibrated monocular visual servo; Calibration; Cameras; Computer vision; Control systems; Control theory; Convergence; Coordinate measuring machines; Servomechanisms; Velocity control; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.680748
Filename
680748
Link To Document