Pose-free visual servoing from 3D measurements
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Show full item recordcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7037
comunitat-uji-handle3:10234/146206
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INVESTIGACIONMetadata
Title
Pose-free visual servoing from 3D measurementsDate
2023-07-17Publisher
Institute of Electrical and Electronics Engineers Inc.ISBN
9781665465311Bibliographic citation
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.Type
info:eu-repo/semantics/conferenceObjectPublisher version
https://ieeexplore.ieee.org/abstract/document/10178149Version
info:eu-repo/semantics/acceptedVersionSubject
Abstract
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. [-]
Is part of
2023 European Control Conference (ECC), Bucharest, Romania, 2023.Rights
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info:eu-repo/semantics/embargoedAccess
info:eu-repo/semantics/embargoedAccess