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Empirical Validation of a New Visual Servoing Strategy

Proceedings of the 2001 IEEE International Conference on Control Applications, September 2001

Noah J. Cowan*, Joel D. Weingarten*, and D. E. Koditschek*
*: Department of Electrical Engineering and Computer Science, University of Michigan
Full PDF | Penn ScholarlyCommons

Figure 1
Modified Strategy
Abstract
      The flexibility of computer vision is attractive when designing manipulation systems which must interact with otherwise unsensed objects. However, occlusions introduce significant challenges to the construction of practical vision-based control systems. This paper provides empirical validation of a vision based control strategy that affords guaranteed convergence to a visible goal from essentially any “safe” initial position while maintaining full view of all the feature points along the way. The method applies to first (quasi-static, or “kinematic”) and second (Lagrangian or “mechanical”) order plants that incorporate an independent actuator for each degree of freedom.
BibTeX entry
@conference{Cowan20011117,
   author={Cowan, N.J., Weingarten, J.D., Koditschek, D.E.},
   title={Empirical validation of a new visual servoing strategy},
   journal={IEEE Conference on Control Applications - Proceedings},
   year={2001},
   pages={1117-1123},
}

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