Pose-free visual servoing from 3D measurements
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comunitat-uji-handle3:10234/146206
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INVESTIGACIONMetadatos
Título
Pose-free visual servoing from 3D measurementsFecha de publicación
2023-07-17Editor
Institute of Electrical and Electronics Engineers Inc.ISBN
9781665465311Cita bibliográfica
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.Tipo de documento
info:eu-repo/semantics/conferenceObjectVersión de la editorial
https://ieeexplore.ieee.org/abstract/document/10178149Versión
info:eu-repo/semantics/acceptedVersionPalabras clave / Materias
Resumen
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. [-]
Publicado en
2023 European Control Conference (ECC), Bucharest, Romania, 2023.Derechos de acceso
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info:eu-repo/semantics/embargoedAccess
info:eu-repo/semantics/embargoedAccess