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Visual Servoing Invariant to Changes in Camera Intrinsic Parameters

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(1)Visual Servoing Invariant to Changes in Camera Intrinsic Parameters Ezio Malis. To cite this version: Ezio Malis. Visual Servoing Invariant to Changes in Camera Intrinsic Parameters. RR-4309, INRIA. 2001. �inria-00072278�. HAL Id: inria-00072278 https://hal.inria.fr/inria-00072278 Submitted on 23 May 2006. HAL is a multi-disciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers.. L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des établissements d’enseignement et de recherche français ou étrangers, des laboratoires publics ou privés..

(2) INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE. Visual servoing invariant to changes in camera intrinsic parameters Ezio Malis. N° 4309 Novembre 2001. ISSN 0249-6399. ISRN INRIA/RR--4309--FR+ENG. THÈME 4. apport de recherche.

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(102). error in the invariant space. 0 0.3. 11 12 9. 100. 3. 1 0.25. 9 53. 10. 11. 4. 150. 8 10. 1. 4. 0.15. 2 0.1. 7. 12. 200. 5. 0.2. 2 ||dq||. 50. 8 0.05. 7. 6 250. 6 0. 0. 50. 100. 150. 200. 250.    J   

(103)  . 300. 350. 100. 200. 300. 400 500 600 700 iterations number. ( J     J   .  

(104) . 800. 900 1000. HF;R FH[ xV>I<U5aO>?>R @ [  >RS,"Mf_GrGUkFL>X]aOFHPVFH=CR<š›>sgR-KSM X]> Ig[ XYFQR<^PVx”R-MOMY9<aOPV>J¢XO„$KZPV=?aOžG>X:u‚KStZX:=C„ˆ= >JQJ¦JQ>KSRgXXAXcŠ‹MhPVKZa R [JQ>‚KVKZa aO[ R<FQrGRgFHxTXYIgKVKVR J¦[ X]>X]aY>rSaYPVrSFHPVR<FHxgR<† xg† 8:9g> ^KZ=?>aOKZš. HIHKJLNMO P Q.

(105) u .  . task function. task function. 0.2. 0.6. e 1 e2 e. e 4 e5 e. 3. 6. ω. 0. e. e. ν. 0.4. 0.2. 0. −0.2. 100. 200. 300. 400 500 600 700 iterations number. 800. −0.2. 900 1000. 100.   "J J  . 200. 300. 400 500 600 700 iterations number. 800. 900 1000.   "J J  

(106). . . rotation velocity (deg/s) 12. translation velocity (m/s) 0.02. νx νy νz. 0.015. z. 8 6 ω. 0.01. ν. ωx ωy ω. 10. 0.005. 4 2. 0. 0 −0.005. −0.01. −2. 100. 200.  . 300.  . 400 500 600 700 iterations number. 800. −4. 900 1000. J    J     . 100. 200. 300.  H. 400 500 600 700 iterations number.   . J. 800. 900 1000.    . rotation error. translation error 0.3. 40. t x t y tz. u θ x uy θ u θ. 20. z. 0.2. 0. t. uθ. 0.1. −20. −40. 0. −60 −0.1 200.  .  . J. 400 600 iterations number.   . J.  .  

(107) . 800. 1000. −80. 200. . H. 400 600 iterations number.   . J. 800. 1000. !#"%$ .  

(108) . HF;R FH[ xV>I<U5aO>>R [  >RS,"Mf_GrGUkFL>X]aOFHPVFH=CR<š›>sgR-KSM X]> Ig[ XYFQR<^PVx”R-MOMY9<aOPV>J¢XO„$KZPV=?aOžG>X:u‚KStZX:=C„ˆ= >JQJ¦JQ>KSRgXXAXcŠ‹MhPVKZa R [JQ>‚KVKZa aO[ R<FQrGRgFHxTXYIgKVKVR J¦[ X]>X]aY>rSaYPVrSFHPVR<FHxgR<† xg† 8:9g> ^KZ=?>aOKZš .. 6H.

(109) u‚n.    

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