TY - GEN
T1 - Image base visual servoing
T2 - 3rd IEEE International Conference on e-Learning in Industrial Electronics, ICELIE 2009
AU - Parí, L.
AU - Sebastián, J. M.
AU - Ángel, L.
AU - Rueda, J. D.
PY - 2009
Y1 - 2009
N2 - This paper describes an Image Based Visual Servoing scheme for controlling a 3 DOF robot, using a system with two cameras in eye to hand configuration. Two methods of estimating image Jacobian on line by using lines as image features are proposed. The first one takes into account both the advantages of Plficker representation and properties of the stereo vision system to obtain depth sensitivity of the observed 3D lines. The second one considers direct measurements of line features in the image of an uncalibrated system. A proportional control law based on the pseudoinverse of the image Jacobian is utilized to control the task. Experimental tests have been carried out to validate the proposed methods, and extended to the analytic image Jacobian from the literature.
AB - This paper describes an Image Based Visual Servoing scheme for controlling a 3 DOF robot, using a system with two cameras in eye to hand configuration. Two methods of estimating image Jacobian on line by using lines as image features are proposed. The first one takes into account both the advantages of Plficker representation and properties of the stereo vision system to obtain depth sensitivity of the observed 3D lines. The second one considers direct measurements of line features in the image of an uncalibrated system. A proportional control law based on the pseudoinverse of the image Jacobian is utilized to control the task. Experimental tests have been carried out to validate the proposed methods, and extended to the analytic image Jacobian from the literature.
UR - http://www.scopus.com/inward/record.url?scp=77951448578&partnerID=8YFLogxK
U2 - 10.1109/ICELIE.2009.5413202
DO - 10.1109/ICELIE.2009.5413202
M3 - Ponencia publicada en las memorias del evento con ISBN
AN - SCOPUS:77951448578
SN - 9781424446544
T3 - Proceedings - ICELIE 2009, 3rd IEEE International Conference on e-Learning in Industrial Electronics
SP - 109
EP - 114
BT - Proceedings - ICELIE 2009, 3rd IEEE International Conference on e-Learning in Industrial Electronics
Y2 - 3 November 2009 through 5 November 2009
ER -