pose-based visual control
Stability Analysis of Pose-Based Visual Servoing Control of Cable-Driven Parallel Robots
... 5 Conclusions This paper proposed a method to analyze the stability of Pose-Based Visual Ser- voing (PBVS) control of Cable-Driven Parallel Robots (CDPRs). A general sta- bility criterion was ...
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Predictive Control for Constrained Image-Based Visual Servoing
... for Pose Estimation in Visual Servoing Farrokh Janabi-Sharifi and Mohammed Marey Abstract—The problem of estimating position and orientation (pose) of an object in real time constitutes an important ...
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Multi-sensor data fusion in sensor-based control: application to multi-camera visual servoing
... A pose computation is performed from each image thanks to the knowledge of the landmark dimensions, to make it possible to estimate the depth of each point and thus use the current interaction matrix if ...other ...
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Image based visual servo-control for a class of aerial robotic systems
... Image-Based control design uses a simple lin- earising control for the image kinematics [4] that leads to complex non-linear dynamics and is not easily ex- tended to dynamic system ...IBVS ...
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A Visual-Based Shared Control Architecture for Remote Telemanipulation
... 3D pose estimation by the ViSP model-based tracker which, as in any vision-based reconstruction, propagates the image noise in segmenting the fiducial markers on the ...
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Robot Control using Monocular Pose Estimation
... in visual servo- ing and we have developed many visual servoing ap- plications using 2D visual ...3D visual fea- tures in a robot control ...the pose of the target ...specic ...
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Experimental Evaluation of Autonomous Driving Based on Visual Memory and Image Based Visual Servoing
... image-based visual servoing instead of position-based control of the robot, we can have several ...robot pose during navigation, we can allow a larger 3-D reconstruction error during ...
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CAD model based tracking and 3D visual-based control for MEMS microassembly.
... model based tracking algorithm is ...3D pose of one single micropart (single tracking) or of several microparts at the same time (multiple ...model based method is that the knowledge of the scene ...
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Robust image-based visual servoing using invariant visual information
... are far from satisfactory (refer to Figs 8.b and 8.c). Indeed, a strong unde- sired translational motion is generated while the motion to perform is a pure rotation. 4.0.2. Experimental results with real images obtained ...
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Visual servo control, Part II: Advanced approaches
... the control scheme using the optimal control approach may be contradictory in some cases, leading the system to fail due to local minima in the objective function to be ...desired pose, which results ...
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Improving Moments-based Visual Servoing with Tunable Visual Features
... Moments-based Visual Servoing with Tunable Visual Features Manikandan Bakthavatchalam, Omar Tahri, Franc¸ois Chaumette Abstract— In this paper, we introduce the concept of tunable visual ...
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A behavior-based visual servoing control law
... Keywords: visual servoing, robotics control, singularities, local ...INTRODUCTION Visual servoing is a well known approach to increase the accuracy, the versatility and the robustness of a ...
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Visual servoing and pose estimation with cameras obeying the unified model
... 13.4.1 Invariants to Rotational Motion The shape of an object does not change under rotational motions. After a rota- tional motion of the camera frame, it can easily be shown that the projected shape on the sphere also ...
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Visual servoing via Nonlinear Predictive control
... Introduction Visual servoing has lead to many fruitful researches over the last ...image-based visual servoing (IBVS) where the feedback is defined in the image plane, position-based ...
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Colorimetry-based visual servoing
... the visual features as well as its related interaction matrix play an essential role ...geometric visual features as points, straight lines, pose or homography are chosen to control the ...
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Predicting visual fixations on video based on low-level visual features
... model based only on the spatial visual features (noted S) and a model based only on the temporal dimension (noted ...is based on the normalized summation (N ...
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Image-based visual servo control of the translation kinematics of a quadrotor aerial vehicle
... kinematic visual servo control schemes to control a ...translational control law leads to good system behavior in the experimental stud- ies ...this control scheme does not ensure ...
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Robust Object Pose Estimation From Feature-Based Stereo
... The method in [20] tracks points in each view of a stereo rig. It introduced binocular matching constraints. Camera motion is recovered from the left and right temporal fundamental matrices. Stereo correspondences are ...
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Complex objects pose estimation based on image moment invariants
... is based on virtual visual servoing (VVS) using moment invariants as features and initialized by an exhaustive optimization ...the pose computation as similar to the positioning of a virtual camera ...
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3D Model Based Pose Estimation For Omnidirectional Stereovision
... Model Based Pose Estimation For Omnidirectional Stereovision Guillaume Caron, Eric Marchand and El Mustapha Mouaddib Abstract— Robot vision has a lot to win as well with wide field of view induced by ...
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