Pose-free visual servoing from 3D measurements
Impacte
![Google Scholar](/xmlui/themes/Mirage2/images/uji/logo_google.png)
![Microsoft Academico](/xmlui/themes/Mirage2/images/uji/logo_microsoft.png)
Metadades
Mostra el registre complet de l'elementcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7037
comunitat-uji-handle3:10234/146206
comunitat-uji-handle4:
INVESTIGACIONMetadades
Títol
Pose-free visual servoing from 3D measurementsData de publicació
2023-07-17Editor
Institute of Electrical and Electronics Engineers Inc.ISBN
9781665465311Cita bibliogràfica
A. Burlacu, R. L. Rosca, A. I. Iancu and E. Cervera, "Pose-free visual servoing from 3D measurements," 2023 European Control Conference (ECC), Bucharest, Romania, 2023, pp. 1-6, doi: 10.23919/ECC57647.2023.10178149.Tipus de document
info:eu-repo/semantics/conferenceObjectVersió de l'editorial
https://ieeexplore.ieee.org/abstract/document/10178149Versió
info:eu-repo/semantics/acceptedVersionParaules clau / Matèries
Resum
In this paper, a novel approach to visual servo control robotic systems is proposed. It is focused on developing a solution using 3D point features without recovering the rigid object’s pose. Pose-free motion is ... [+]
In this paper, a novel approach to visual servo control robotic systems is proposed. It is focused on developing a solution using 3D point features without recovering the rigid object’s pose. Pose-free motion is achieved using motion parameterization techniques based on dual numbers and dual vectors. Considering an imposed velocity field over the motion of the 3D point features ensemble, this work proposes a close-form solution to a visual servoing problem. The solution provides stable motion control while preserving the image features in the field of view. However, when some point features leave the field of view, their contribution to the control law is dropped without losing stability. The proposed solution is easy to tune and implement. Various scenarios are used in simulations and real experiments to show how the proposed solution overcomes classic servoing problems. [-]
Publicat a
2023 European Control Conference (ECC), Bucharest, Romania, 2023.Drets d'accés
http://rightsstatements.org/vocab/InC/1.0/
info:eu-repo/semantics/embargoedAccess
info:eu-repo/semantics/embargoedAccess