TY - GEN
T1 - Kernel-based visual servoing
AU - Kallem, Vinutha
AU - Dewan, Maneesh
AU - Swensen, John P.
AU - Hager, Gregory D.
AU - Cowan, Noah J.
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=51349129639&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349129639&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399546
DO - 10.1109/IROS.2007.4399546
M3 - Conference contribution
AN - SCOPUS:51349129639
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1975
EP - 1980
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -