Cogprints

Uncalibrated visual servoing

Spratling, M. W. and Cipolla, R. (1996) Uncalibrated visual servoing. [Conference Paper]

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Abstract

Visual servoing is a process to enable a robot to position a camera with respect to known landmarks using the visual data obtained by the camera itself to guide camera motion. A solution is described which requires very little a priori information freeing it from being specific to a particular configuration of robot and camera. The solution is based on closed loop control together with deliberate perturbations of the trajectory to provide calibration movements for refining that trajectory. Results from experiments in simulation and on a physical robot arm (camera-in-hand configuration) are presented.

Item Type:Conference Paper
Subjects:Computer Science > Machine Vision
Computer Science > Robotics
ID Code:2378
Deposited By:Spratling, Dr Michael
Deposited On:08 Aug 2002
Last Modified:11 Mar 2011 08:54

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