[PDF] Top 20 Dynamic Visual Servoing with Image Moments for a Quadrotor Using a Virtual Spring Approach

... researches for visual servoing of UAVs have used PBVS [6], [7], ...An image-based PID controller using a stationary camera has been proposed to control the pose of a ... Voir le document complet

... an image-based visual servoing for controlling the position and orientation of an unmanned aerial vehicle (UAV) using a fixed downward camera observing landmarks on the level ... Voir le document complet

... and a virtual probe providing three orthogonal views is modeled in this ...performed using the estimated form of the interaction matrix ...pose with the desired contour added in ...each ... Voir le document complet

... paper a way to achieve visual servoing tasks when the desired visual features and the shape of the object being observed are ...at a certain point of an unknown object that are ... Voir le document complet

... is with Universit´e de Rennes 1, IRISA, Inria Rennes Bretagne Atlantique, 35042 Rennes cedex, France The use of image moments to serve as visual features in visual servoing has ... Voir le document complet

... behaviour using only 2D data (by lack of space, we do not recall here the properties of pose-based visual servoing and 2 1/2 D visual ...servoing). A visual feature ... Voir le document complet

... of a parallel robot using a eye-to-hand ...of image acquisition and processing, features are detected by analyzing specific ROIs (Region of Interests) in a sequential manner, and thus ... Voir le document complet

... presented a new method of US visual ser- voing based on image moments to control an US device mounted on a robotic arm in an eye-in-hand ...orthogonal image planes to efficiently ... Voir le document complet

... proposed a new visual servoing scheme based on image moments valid for dense and discrete ...provides a large domain of convergence, a good behavior of the ... Voir le document complet

... propose a new visual servo approach to automatically control in real-time the full motion of a 2D ultrasound (US) probe held by a medical robot in order to reach a desired ... Voir le document complet

... Terms—Visual servoing, central projection cameras, spherical ...In visual servoing, data provided by a vision sensor is used to control the motion of a robot ...[1]. A ... Voir le document complet

... US image, while an operator was telemanipulating the robot. Visual servoing was thus limited to control only the three degrees of freedom (DOFs) of the in-plane motions of the US ... Voir le document complet

... validated using the 5-dof microassembly workcell illustrated in ...In a second time, the control of the optical microscope magnification (zoom) has been included in the control in order to achieve a ... Voir le document complet

... potential for real- world applications is still not ...on visual tracking procedures has been identified as a major factor [6] ...transform image intensities to a lower dimensional ... Voir le document complet

... situation, visual servoing based on image moments fails to converge, as presented by ...order moments are not computed with suf£cient ...during visual servoing ... Voir le document complet

... methods for detecting and representing doors in an indoor navigation construct [30] ...extracted for visual ...at a reasonable speed. Consequently, we use a door detection and tracking ... Voir le document complet

... We assume in the following stability analysis that the interaction matrix never loses its rank during the servoing, i.e. the camera never crosses the cylinder of singularities pictured on Fig. 3. We also suppose ... Voir le document complet

... difficult for a user, particularly in the case of severe disability, to utilize an electric wheelchair in constrained environments efficiently and safely ... Voir le document complet

... laws, with an on-line pose estimation technique, were tested by simulation. A method to extract the visual features was also ...ultrasound image-based visual servoing by ... Voir le document complet

... audio-visual dynamic information detailed in the next section. As visual cues, we propose a set of features based on facial shape deformations, and two sets respectively based on global and ... Voir le document complet