Dynamic sensor planning in visual servoing

Éric Marchand, Greg D. Hager

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We present an approach to dynamic sensor planning problems in visual servoing. Specifically, one of the main problems an image-based visual servoing is to plan the camera trajectory in order to avoid undesired configurations (e.g., features out of view, collision with obstacles, etc.). Our approach uses the robot redundancy and employs a control scheme based on the task function approach. It combines the regulation of the selected vision-based task with the minimization of a secondary cost function, which reflects given constraints on the manipulator trajectory. We describe how this methodology is applied to common problems in robotic vision: occlusion avoidance, field of view constraint and obstacle avoidance. We demonstrate the validity of this approach with various experiments.

Original languageEnglish (US)
Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1988-1993
Number of pages6
ISBN (Print)078034300X
DOIs
StatePublished - Jan 1 1998
Externally publishedYes
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: May 16 1998May 20 1998

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume3
ISSN (Print)1050-4729

Conference

Conference15th IEEE International Conference on Robotics and Automation, ICRA 1998
CountryBelgium
CityLeuven
Period5/16/985/20/98

Keywords

  • Cameras
  • Computed tomography
  • Computer science
  • Cost function
  • Manipulators
  • Robot sensing systems
  • Robot vision systems
  • Robotics and automation
  • Trajectory
  • Visual servoing

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Marchand, É., & Hager, G. D. (1998). Dynamic sensor planning in visual servoing. In Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998 (pp. 1988-1993). [680607] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 3). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1998.680607