The DOI matches its Crossref record; 30 of the 30 references it cites were found in a registry or an index.
2 1/2 D Visual Servoing with Respect to Unknown Objects Through a New Estimation Scheme of Camera Displacement
Open accessAbstract
Classical visual servoing techniques need a strong a priori knowledge of the shape and the dimensions of the observed objects. In this paper, we present how the 2 1/2 D visual servoing scheme we have recently developed, can be used with unknown objects characterized by a set of points. Our scheme is based on the estimation of the camera displacement from two views, given by the current and desired images. Since vision-based robotics tasks generally necessitate to be performed at video rate, we focus only on linear algorithms. Classical linear methods are based on the computation of the essential matrix. In this paper, we propose a different method, based on the estimation of the homography matrix related to a virtual plane attached to the object. We show that our method provides a more stable estimation when the epipolar geometry degenerates. This is particularly important in visual servoing to obtain a stable control law, especially near the convergence of the system. Finally, experimental results confirm the improvement in the stability, robustness, and behaviour of our scheme with respect to classical methods.
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Cites
A tutorial on visual servo control
Hutchinson, S., Hager, G. D., & Corke, P. I. (1996) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.538972 · Cited by 3,528
Three-dimensional computer vision: a geometric viewpoint
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A computer algorithm for reconstructing a scene from two projections
Longuet-Higgins, H. C. (1981) · Nature · doi:10.1038/293133a0 · Cited by 2,383
In defense of the eight-point algorithm
Hartley, R. I. (1997) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/34.601246 · Cited by 1,625
A New Approach to Visual Servoing in Robotics
Espiau, B., Chaumette, F., & Rives, P. (1992) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.143350 · Cited by 1,384
Self-citationA new approach to visual servoing in robotics
Espiau, B., Chaumette, F., & Rives, P. (1993) · Lecture Notes in Computer Science · doi:10.1007/3-540-57132-9_8 · Cited by 1,346
Self-citationModel-based object pose in 25 lines of code
Dementhon, D. F., & Davis, L. S. (1995) · International Journal of Computer Vision · doi:10.1007/bf01450852 · Cited by 1,009
Malis, E., Chaumette, F., & Boudet, S. (1999) · IEEE Transactions on Robotics and Automation · doi:10.1109/70.760345 · Cited by 970
Self-citationDynamic sensor-based control of robots with visual feedback
Weiss, L., Sanderson, A., & Neuman, C. (1987) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1987.1087115 · Cited by 830
Tsai, R. Y., & Huang, T. S. (1984) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.1984.4767471 · Cited by 828
Cited by
Combining two-view constraints for motion estimation
Govindu, V. M. (2005) · Proceedings of the 2001 IEEE Computer Society Conference on Computer Vision and Pattern Recognition. CVPR 2001 · doi:10.1109/cvpr.2001.990963 · Cited by 196
Chaumette, F. (2007) · Modeling, Performance Analysis and Control of Robot Manipulators · doi:10.1002/9780470612286.ch6 · Cited by 5
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Metadata
- Authors
- Malis, E., & Chaumette, F.
- Venue
- International Journal of Computer Vision
- Published
- 2000-06
- Volume
- 37
- Issue
- 1
- Pages
- 79-97
- ISSN
- 0920-5691 (ISSN-L)
- 1573-1405
- OpenAlex
- W1575596356
- Cited by
- 273
- References
- 30
- FWCI
- 9.21
- Type
- journal article
- Language
- en
- Open access
- green
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