Benutzer: Gast  Login
Dokumenttyp:
Konferenzbeitrag 
Autor(en):
E. Dean-León and G. Cheng, 
Titel:
A new method for solving 6D Image-Based Visual Servoing with virtual composite camera model 
Seitenangaben Beitrag:
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...    »
 
Stichworte:
{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}, 
Kongress- / Buchtitel:
Humanoid Robots 
Kongress / Zusatzinformationen:
14th IEEE-RAS International Conference on Humanoid Robots 
Ausrichter der Konferenz:
IEEE 
Konferenzort:
Madrid 
Datum der Konferenz:
13.10. - 16.10.2014 
Jahr:
2014 
Quartal:
3. Quartal 
Jahr / Monat:
2014-10 
Monat:
Oct 
Reviewed:
ja