The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Improving vision-based control using efficient second-order minimization techniques
Open accessAbstract
In this paper, several vision-based robot control methods are classified following an analogy with well known minimization methods. Comparing the rate of convergence between minimization algorithms helps us to understand the difference of performance of the control schemes. In particular, it is shown that standard vision-based control methods have in general low rates of convergence. Thus, the performance of vision-based control could be improved using schemes which perform like the Newton minimization algorithm that has a high convergence rate. Unfortunately, the Newton minimization method needs the computation of second derivatives that can be ill-conditioned causing convergence problems. In order to solve these problems, this paper proposes two new control schemes based on efficient second-order minimization techniques.
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Citations
Cites
An Algorithm for Least-Squares Estimation of Nonlinear Parameters
Marquardt, D. W. (1963) · Journal of the Society for Industrial and Applied Mathematics · doi:10.1137/0111030 · Cited by 30,728
Cited by
Deformable medical image registration: a survey
Sotiras, A., Davatzikos, C., & Paragios, N. (2013) · IEEE Transactions on Medical Imaging · doi:10.1109/tmi.2013.2265603 · Cited by 1,587
“In the demons registration setting, an extension of Gauss-Newton by Malis [43] was employed to derive the symmetric demons forces [47], [50].”
BackgroundMethodWeiss, S., Achtelik, M. W., Lynen, S., Chli, M., & Siegwart, R. (2012) · 2012 IEEE International Conference on Robotics and Automation · doi:10.1109/icra.2012.6225147 · Cited by 417
Chaumette, F. (2007) · Modeling, Performance Analysis and Control of Robot Manipulators · doi:10.1002/9780470612286.ch6 · Cited by 5
Metadata
- Authors
- Malis, E.
- Venue
- IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
- Publisher
- IEEE
- Published
- 2004
- Pages
- 1843-1848 Vol.2
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2137750560
- Cited by
- 266
- References
- 1
- FWCI
- 9.26
- Type
- conference paper
- Language
- en
- Open access
- green
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- Malis, E. (2004). Improving vision-based control using efficient second-order minimization techniques. IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004. https://doi.org/10.1109/robot.2004.1308092
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