Robust image-based visual servoing using invariant visual information

Detalhes bibliográficos
Autor(a) principal: Tahri, Omar
Data de Publicação: 2013
Outros Autores: Araujo, Helder, Chaumette, François, Mezouar, Youcef
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10316/27729
https://doi.org/10.1016/j.robot.2013.06.010
Resumo: This paper deals with the use of invariant visual features for visual servoing. New features are proposed to control the 6 degrees of freedom of a robotic system with better linearizing properties and robustness to noise than the state of the art in image-based visual servoing. We show in this paper that by using these features the behavior of image-based visual servoing in task space can be significantly improved. Several experimental results are provided and validate our proposal.
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spelling Robust image-based visual servoing using invariant visual informationRobust visual servoingSpherical projectionThis paper deals with the use of invariant visual features for visual servoing. New features are proposed to control the 6 degrees of freedom of a robotic system with better linearizing properties and robustness to noise than the state of the art in image-based visual servoing. We show in this paper that by using these features the behavior of image-based visual servoing in task space can be significantly improved. Several experimental results are provided and validate our proposal.Elsevier2013-12info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articlehttp://hdl.handle.net/10316/27729http://hdl.handle.net/10316/27729https://doi.org/10.1016/j.robot.2013.06.010engTAHRI, Omar [et. al] - Robust image-based visual servoing using invariant visual information. "Robotics and Autonomous Systems". ISSN 0921-8890. Vol. 61 Nº. 12 (2013) p. 1588–16000921-8890http://www.sciencedirect.com/science/article/pii/S092188901300119XTahri, OmarAraujo, HelderChaumette, FrançoisMezouar, Youcefinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2020-05-25T12:20:06Zoai:estudogeral.uc.pt:10316/27729Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T20:53:46.506606Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Robust image-based visual servoing using invariant visual information
title Robust image-based visual servoing using invariant visual information
spellingShingle Robust image-based visual servoing using invariant visual information
Tahri, Omar
Robust visual servoing
Spherical projection
title_short Robust image-based visual servoing using invariant visual information
title_full Robust image-based visual servoing using invariant visual information
title_fullStr Robust image-based visual servoing using invariant visual information
title_full_unstemmed Robust image-based visual servoing using invariant visual information
title_sort Robust image-based visual servoing using invariant visual information
author Tahri, Omar
author_facet Tahri, Omar
Araujo, Helder
Chaumette, François
Mezouar, Youcef
author_role author
author2 Araujo, Helder
Chaumette, François
Mezouar, Youcef
author2_role author
author
author
dc.contributor.author.fl_str_mv Tahri, Omar
Araujo, Helder
Chaumette, François
Mezouar, Youcef
dc.subject.por.fl_str_mv Robust visual servoing
Spherical projection
topic Robust visual servoing
Spherical projection
description This paper deals with the use of invariant visual features for visual servoing. New features are proposed to control the 6 degrees of freedom of a robotic system with better linearizing properties and robustness to noise than the state of the art in image-based visual servoing. We show in this paper that by using these features the behavior of image-based visual servoing in task space can be significantly improved. Several experimental results are provided and validate our proposal.
publishDate 2013
dc.date.none.fl_str_mv 2013-12
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10316/27729
http://hdl.handle.net/10316/27729
https://doi.org/10.1016/j.robot.2013.06.010
url http://hdl.handle.net/10316/27729
https://doi.org/10.1016/j.robot.2013.06.010
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv TAHRI, Omar [et. al] - Robust image-based visual servoing using invariant visual information. "Robotics and Autonomous Systems". ISSN 0921-8890. Vol. 61 Nº. 12 (2013) p. 1588–1600
0921-8890
http://www.sciencedirect.com/science/article/pii/S092188901300119X
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv
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