The Experts below are selected from a list of 23457 Experts worldwide ranked by ideXlab platform
Seth A. Hutchinson - One of the best experts on this subject based on the ideXlab platform.
-
Visual Servo Control. I. Basic approaches
IEEE Robotics and Automation Magazine, 2006Co-Authors: Fraņois Chaumette, Seth A. HutchinsonAbstract:This paper is the first of a two-part series on the topic of visual Servo Control using computer vision data in the Servo loop to Control the motion of a robot. In this paper, we describe the basic techniques that are by now well established in the field. We first give a general overview of the formulation of the visual Servo Control problem. We then describe the two archetypal visual Servo Control schemes: image-based and position-based visual Servo Control. Finally, we discuss performance and stability issues that pertain to these two schemes, motivating the second article in the series, in which we consider advanced techniques
-
A tutorial on visual Servo Control
Robotics and Automation, IEEE Transactions on, 1996Co-Authors: Seth A. Hutchinson, Seth Hutchinson, Gregory D. Hager, Peter I. CorkeAbstract:This article provides a tutorial introduction to visual Servo Control\nof robotic manipulators. Since the topic spans many disciplines our\ngoal is limited to providing a basic conceptual framework. We begin\nby reviewing the prerequisite topics from robotics and computer vision,\nincluding a brief review of coordinate transformations, velocity\nrepresentation, and a description of the geometric aspects of the\nimage formation process. We then present a taxonomy of visual Servo\nControl systems. The two major classes of systems, position-based\nand image-based systems, are then discussed in detail. Since any\nvisual Servo system must be capable of tracking image features in\na sequence of images, we also include an overview of feature-based\nand correlation-based methods for tracking. We conclude the tutorial\nwith a number of observations on the current directions of the research\nfield of visual Servo Control
Peter I. Corke - One of the best experts on this subject based on the ideXlab platform.
-
A tutorial on visual Servo Control
Robotics and Automation, IEEE Transactions on, 1996Co-Authors: Seth A. Hutchinson, Seth Hutchinson, Gregory D. Hager, Peter I. CorkeAbstract:This article provides a tutorial introduction to visual Servo Control\nof robotic manipulators. Since the topic spans many disciplines our\ngoal is limited to providing a basic conceptual framework. We begin\nby reviewing the prerequisite topics from robotics and computer vision,\nincluding a brief review of coordinate transformations, velocity\nrepresentation, and a description of the geometric aspects of the\nimage formation process. We then present a taxonomy of visual Servo\nControl systems. The two major classes of systems, position-based\nand image-based systems, are then discussed in detail. Since any\nvisual Servo system must be capable of tracking image features in\na sequence of images, we also include an overview of feature-based\nand correlation-based methods for tracking. We conclude the tutorial\nwith a number of observations on the current directions of the research\nfield of visual Servo Control
Fraņois Chaumette - One of the best experts on this subject based on the ideXlab platform.
-
Visual Servo Control. I. Basic approaches
IEEE Robotics and Automation Magazine, 2006Co-Authors: Fraņois Chaumette, Seth A. HutchinsonAbstract:This paper is the first of a two-part series on the topic of visual Servo Control using computer vision data in the Servo loop to Control the motion of a robot. In this paper, we describe the basic techniques that are by now well established in the field. We first give a general overview of the formulation of the visual Servo Control problem. We then describe the two archetypal visual Servo Control schemes: image-based and position-based visual Servo Control. Finally, we discuss performance and stability issues that pertain to these two schemes, motivating the second article in the series, in which we consider advanced techniques
-
Visual Servo Control, Part I: Basic approaches
IEEE Robotics and Automation Magazine, 2006Co-Authors: Fraņois Chaumette, S. HutchinsonAbstract:This article is the first of a two-part series on the topic of visual Servo Control: using computer vision data in the Servo loop to Control the motion of a robot. In the present article, we describe the basic techniques that are by now well established in the field. We first give a general overview of the formulation of the visual Servo Control problem. We then describe the two archetypal visual Servo Control schemes: image-based and position-based visual Servo Control. Finally, we discuss performance and stability issues that pertain to these two schemes, motivating the second article in the series, in which we consider advanced techniques.
Seth Hutchinson - One of the best experts on this subject based on the ideXlab platform.
-
a new partitioned approach to image based visual Servo Control
International Conference on Robotics and Automation, 2001Co-Authors: Peter Corke, Seth HutchinsonAbstract:In image-based visual Servo Control, where Control is effected with respect to the image, there is no direct Control over the Cartesian velocities of the robot end effector. As a result, the robot executes trajectories that are desirable in the image, but which can be indirect and seemingly contorted in Cartesian space. We introduce a partitioned approach to visual Servo Control that overcomes this problem. In particular, we decouple the x-axis rotational and translational components of the Control from the remaining degrees of freedom. Then, to guarantee that all features remain in the image throughout the entire trajectory, we incorporate a potential function that repels feature points from the boundary of the image plane. We illustrate our Control scheme with a variety of results.
-
A tutorial on visual Servo Control
Robotics and Automation, IEEE Transactions on, 1996Co-Authors: Seth A. Hutchinson, Seth Hutchinson, Gregory D. Hager, Peter I. CorkeAbstract:This article provides a tutorial introduction to visual Servo Control\nof robotic manipulators. Since the topic spans many disciplines our\ngoal is limited to providing a basic conceptual framework. We begin\nby reviewing the prerequisite topics from robotics and computer vision,\nincluding a brief review of coordinate transformations, velocity\nrepresentation, and a description of the geometric aspects of the\nimage formation process. We then present a taxonomy of visual Servo\nControl systems. The two major classes of systems, position-based\nand image-based systems, are then discussed in detail. Since any\nvisual Servo system must be capable of tracking image features in\na sequence of images, we also include an overview of feature-based\nand correlation-based methods for tracking. We conclude the tutorial\nwith a number of observations on the current directions of the research\nfield of visual Servo Control
S. Hutchinson - One of the best experts on this subject based on the ideXlab platform.
-
Visual Servo Control, Part I: Basic approaches
IEEE Robotics and Automation Magazine, 2006Co-Authors: Fraņois Chaumette, S. HutchinsonAbstract:This article is the first of a two-part series on the topic of visual Servo Control: using computer vision data in the Servo loop to Control the motion of a robot. In the present article, we describe the basic techniques that are by now well established in the field. We first give a general overview of the formulation of the visual Servo Control problem. We then describe the two archetypal visual Servo Control schemes: image-based and position-based visual Servo Control. Finally, we discuss performance and stability issues that pertain to these two schemes, motivating the second article in the series, in which we consider advanced techniques.
