Title:
Uncalibrated Eye-in-Hand Visual Servoing
Uncalibrated Eye-in-Hand Visual Servoing
dc.contributor.author | Piepmeier, Jenelle Armstrong | |
dc.contributor.author | Gumpert, Ben A. | |
dc.contributor.author | Lipkin, Harvey | |
dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | |
dc.contributor.corporatename | United States Naval Academy | |
dc.contributor.corporatename | Georgia Tech Research Institute | |
dc.date.accessioned | 2011-10-13T19:47:57Z | |
dc.date.available | 2011-10-13T19:47:57Z | |
dc.date.issued | 2002-05 | |
dc.description | ©2002 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
dc.description | Presented at the 2002 IEEE International Conference on Robotics and Automation (ICRA), 11-15 May 2002, Washington, D.C. | |
dc.description | DOI: 10.1109/ROBOT.2002.1013419 | |
dc.description.abstract | This paper presents uncalibrated control schemes for vision-guided robotic tracking of a moving target using a moving camera. These control methods are applied to an uncalibrated robotic system with eye-in-hand visual feedback. Without a priori knowledge of the robot's kinematic model or camera calibration, the system is able to track a moving object and maintain the desired features. These control schemes estimate the system Jacobian as well as changes in target features due to target motion. Four novel strategies are simulated, and a variety of parameters are investigated with respect to performance. | en_US |
dc.identifier.citation | Armstrong Piepmeier, J., Gumpert, B.A., & Lipkin, H. (2002). "Uncalibrated Eye-in-Hand Visual Servoing". Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2002), 11-15 May 2002, Vol. 1, 568-573. | en_US |
dc.identifier.uri | http://hdl.handle.net/1853/41823 | |
dc.language.iso | en_US | en_US |
dc.publisher | Georgia Institute of Technology | en_US |
dc.publisher.original | Institute of Electrical and Electronics Engineers | |
dc.subject | Camera calibration | en_US |
dc.subject | Eye-in-hand | en_US |
dc.subject | Kinematic models | en_US |
dc.subject | Robot vision | en_US |
dc.subject | Uncalibrated control | en_US |
dc.title | Uncalibrated Eye-in-Hand Visual Servoing | en_US |
dc.type | Text | |
dc.type.genre | Post-print | |
dc.type.genre | Proceedings | |
dspace.entity.type | Publication | |
local.contributor.corporatename | Georgia Tech Research Institute (GTRI) | |
local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
relation.isOrgUnitOfPublication | 3928f3f0-0759-4b3a-aa0a-10075096fef4 | |
relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |
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