Kernel-based visual servoing

Vinutha Kallem, Maneesh Dewan, John P. Swensen, Gregory D. Hager, Noah J. Cowan

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

Abstract

Traditionally, visual servoing is separated into tracking and control subsystems. This separation, though convenient, is not necessarily well justified. When tracking and control strategies are designed independently, it is not clear how to optimize them to achieve a certain task. In this work, we propose a framework in which spatial sampling kernels - borrowed from the tracking and registration literature -are used to design feedback controllers for visual servoing. The use of spatial sampling kernels provides natural hooks for Lyapunov theory, thus unifying tracking and control and providing a framework for optimizing a particular servoing task. As a first step, we develop kernel-based visual servos for a subset of relative motions between camera and target scene. The subset of motions we consider are 2D translation, scale, and roll of the target relative to the camera. Our approach provides formal guarantees on the convergence/stability of visual servoing algorithms under putatively generic conditions.

Original languageEnglish (US)
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages1975-1980
Number of pages6
DOIs
StatePublished - Dec 1 2007
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: Oct 29 2007Nov 2 2007

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period10/29/0711/2/07

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Kallem, V., Dewan, M., Swensen, J. P., Hager, G. D., & Cowan, N. J. (2007). Kernel-based visual servoing. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 1975-1980). [4399546] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399546