DocumentCode :
426049
Title :
Multi-view visual servoing using epipoles
Author :
Piazzi, Jacopo ; Cowan, Noah J.
Author_Institution :
Johns Hopkins Univ., Baltimore, MD, USA
Volume :
1
fYear :
2004
fDate :
28 Sept.-2 Oct. 2004
Firstpage :
674
Abstract :
We explore the benefits of multiple views for visual servoing (VS) by commanding a single camera to first "peer" at a scene from two vantage points, thus acquiring a set "reference" images, prior to executing a visual position task. Our approach completely decouples the translational and rotational components of our controller: epipoles from the reference views drive the translational error to zero, while the rotational degrees of freedom maintain all of the features in the field of view (FOV). We furnish a simple Lyapunov stability proof that demonstrates a large domain of attraction while maintaining all features in the FOV. Finally, we present simulated experiments that suggest robustness to measurement noise and large variations in the baseline between the reference views.
Keywords :
Lyapunov methods; cameras; image motion analysis; stability; Lyapunov stability; epipoles; single camera; visual position task; visual servoing; Cameras; Insects; Jacobian matrices; Layout; Lyapunov method; Matrix decomposition; Noise robustness; Optical control; Robust control; Visual servoing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
Type :
conf
DOI :
10.1109/IROS.2004.1389430
Filename :
1389430
Link To Document :
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