Keeping features in the field of view in eye-in-hand visual servoing: A switching approach
Keeping features in the field of view in eye-in-hand visual servoing: A switching approach
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DOI：
10.1109/tro.2004.829456
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发表时间：
2004-10-01
期刊：
影响因子：
--
通讯作者：
Vicino, A
中科院分区：
文献类型：
--
作者：
Chesi, G;Hashimoto, K;Vicino, A
提出了一种保持特征在视场中的视觉伺服策略，该策略包括基于位置的控制策略之间的切换和向后运动。在外部参数不存在不确定性的情况下，所有特征都保持在视场中。此外，如果内参数也是已知的，则轨迹长度在旋转空间中最小化，并且对于某些情况，在平移空间中也最小化。仿真结果也表明了一定程度的鲁棒性对不确定性的内在参数。
A visual servoing strategy for keeping features in the field of view is proposed which consists of a switching among position-based control strategies and backward motion. In the absence of uncertainty on the extrinsic parameters, all features are kept in the field of view. Moreover, if the intrinsic parameters are also known, the trajectory length is minimized in the rotational space and, for some cases, also minimized in the translational space. Simulation results also show a certain degree of robustness against uncertainty on the intrinsic parameters.