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Document type:
Konferenzbeitrag 
Author(s):
E. Dean-León and G. Cheng, 
Title:
A new method for solving 6D Image-Based Visual Servoing with virtual composite camera model 
Pages contribution:
519-525 
Abstract:
This paper presents a new formulation to the open problem of 6D Image-Based Visual Servoing (IBVS). The main goal is to control the pose of an object using visual information from stereo cameras. In this article we introduce a novel image feature representation based on virtual orthogonal cameras to map 6D Cartesian poses to 6D visual poses defined in a Virtual Visual space (Image space). This new model is used to compute a full-rank Image Jacobian matrix (Jimg), which overcomes several common p...    »
 
Keywords:
{Jacobian matrices; image representation; manipulators; pose estimation; robot vision; stereo image processing; visual servoing; 6D image-based visual servoing; IBVS; image Jacobian matrix; image feature representation; object pose control; robot manipulator; stereo camera; virtual composite camera model; Aerospace electronics; Cameras; Jacobian matrices; Solid modeling; Three-dimensional displays; Visual servoing; Visualization}, 
Book / Congress title:
Humanoid Robots 
Congress (additional information):
14th IEEE-RAS International Conference on Humanoid Robots 
Organization:
IEEE 
Date of congress:
13.10. - 16.10.2014 
Year:
2014 
Quarter:
3. Quartal 
Year / month:
2014-10 
Month:
Oct 
Reviewed:
ja