Motion perceptibility and its application to active vision-based servo control

Rajeev Sharma, Seth Hutchinson

Research output: Contribution to journalArticlepeer-review

Abstract

In this paper, we address the ability of a computer vision system to perceive the motion of an object (possibly a robot manipulator) in its field of view. We derive a quantitative measure of motion perceptibility, which relates the magnitude of the rate of change in an object's position to the magnitude of the rate of change in the image of that object. We then show how motion perceptibility can be combined with the traditional notion of manipulability, into a composite perceptibility/manipulability measure. We demonstrate how this composite measure may be applied to a number of different problems involving relative hand/eye positioning and control.

Original languageEnglish (US)
Pages (from-to)607-617
Number of pages11
JournalIEEE Transactions on Robotics and Automation
Volume13
Issue number4
DOIs
StatePublished - 1997

Keywords

  • Active vision
  • Motion planning
  • Visual servoing

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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