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Abstract: This paper presents a framework for visual servoing that guarantees convergence to a visible goal from almost every initially visible configuration while maintaining full view of all the feature points along the way. The method applies to first and second order fully actuated plant models. The solution entails three components: a model for the "occlusion-free" configurations; a change of coordinates from image to model coordinates; and a navigation function for the model space. We present three ... (Update)
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BibTeX entry: (Update)
N. Cowan, J. Weingarten, and D. Koditschek. Visual servoing via navigation functions. IEEE Transactions on Robotics and Automation, 18(4):521--533, 2002. http://citeseer.ist.psu.edu/cowan02visual.html More
@misc{ cowan02visual,
author = "N. Cowan and J. Weingarten and D. Koditschek",
title = "Visual servoing via navigation functions",
text = "N. Cowan, J. Weingarten, and D. Koditschek. Visual servoing via navigation
functions. IEEE Transactions on Robotics and Automation, 18(4):521--533,
2002.",
year = "2002",
url = "citeseer.ist.psu.edu/cowan02visual.html" }
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195 A tutorial on visual servo control - Hutchinson, Hager et al. - 1996
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26 Visual servoing with dynamics: Control of an unmanned blimp - Zhang, Ostrowski - 1999
22 A new partitioned approach to image-based visual servo contr.. (context) - Corke, Hutchinson - 2001
21 An active visual estimator for dexterous manipulation - Rizzi, Koditschek - 1996
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17 Three-Dimensional Computer Vision (context) - Faugeras - 1993
17 The control of natural motion in mechanical systems (context) - Koditschek - 1991
14 Planar image based visual servoing as a navigation problem - Cowan, Koditschek - 1999
13 Visual servoing via navigation functions - Cowan, Weingarten et al. - 2002
13 An approach to autonomous robot assembly (context) - Koditschek - 1994
11 Robust visual servoing based on relative orientation - Taylor, Ostrowski - 1998
9 Theoretical improvements in the stability analysis of a new .. - Malis, Chaumette - 2002
8 convergent visual servoing system (context) - Kim, Rizzi et al. - 1995
7 a comprehensive course (context) - Pedoe - 1970
6 Explicit incorporation of 2d constraints in vision based con.. (context) - Morel, Leibezeit et al. - 2000
5 Visual servong of an under-actuated dynamic rigid-body syste.. (context) - Hamel, Mahony - 2002
5 Visual motion planning for mobile robots (context) - Zhang, Ostrowski - 2002
4 Rigid body visual servoing using navigation functions - Cowan, Lopes et al. - 2000
3 Vision-based Control via Navigation Functions (context) - Cowan - 2001
2 chapter Potential problems of stability and convergence in i.. (context) - Chaumette, of et al. - 1999
2 Design and tracking of deserable trajectories in the image s.. (context) - Mezouar, Chaumette - 2001
2 Binocular visual servoing with a limited field of view - Cowan - 2002
2 Empirical validation of a new visual servoing stragegy - Cowan, Weingarten et al. - 2001
1 Dynamic e#ects in visual closedloop systems (context) - Corke, Good - 1996
The graph only includes citing articles where the year of publication is known.
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