TY - GEN
T1 - Vision-Based Control of Robot Motion
AU - Hutchinson, Seth
N1 - Publisher Copyright:
© 2010, Springer-Verlag Berlin Heidelberg.
PY - 2010
Y1 - 2010
N2 - Visual servo control is now a mature method for controlling robots using real-time vision feedback. It can be considered as the fusion of computer vision, robotics and control, and it has been a distinct field since the 1990’s, though the earliest work dates back to the 1980’s. Over this period several major, and well understood, approaches have evolved and have been demonstrated in many laboratories around the world. Many visual servo schemes can be classified as either position-based or image-based, depending on whether camera pose or image features are used in the control law. This lecture will review both position-based and image-based methods for visual servo control, presenting the basic derivations and concepts, and describing a few of the performance problems faced by each. Following this, a few recent and more advanced methods will be described. These approaches essentially partition the control system either along spatial or temporal dimensions. The former are commonly referred to as hybrid or partitioned control systems, while the latter are typically referred to as switched systems.
AB - Visual servo control is now a mature method for controlling robots using real-time vision feedback. It can be considered as the fusion of computer vision, robotics and control, and it has been a distinct field since the 1990’s, though the earliest work dates back to the 1980’s. Over this period several major, and well understood, approaches have evolved and have been demonstrated in many laboratories around the world. Many visual servo schemes can be classified as either position-based or image-based, depending on whether camera pose or image features are used in the control law. This lecture will review both position-based and image-based methods for visual servo control, presenting the basic derivations and concepts, and describing a few of the performance problems faced by each. Following this, a few recent and more advanced methods will be described. These approaches essentially partition the control system either along spatial or temporal dimensions. The former are commonly referred to as hybrid or partitioned control systems, while the latter are typically referred to as switched systems.
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U2 - 10.1007/978-3-642-16687-7_3
DO - 10.1007/978-3-642-16687-7_3
M3 - Conference contribution
AN - SCOPUS:85037717765
SN - 9783642166860
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 3
BT - Progress in Pattern Recognition, Image Analysis, Computer Vision, and Applications - 15th Iberoamerican Congress on Pattern Recognition, CIARP 2010, Proceedings
A2 - Cesar, Roberto M.
A2 - Bloch, Isabelle
PB - Springer
T2 - 15th Iberoamerican Congress on Pattern Recognition, CIARP 2010
Y2 - 8 November 2010 through 11 November 2010
ER -