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Erschienen in:
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2017 | OriginalPaper | Buchkapitel

Projective Homography Based Uncalibrated Visual Servoing with Path Planning

verfasst von : Zeyu Gong, Bo Tao, Hua Yang, Zhouping Yin, Han Ding

Erschienen in: Intelligent Robotics and Applications

Verlag: Springer International Publishing

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Abstract

Path planning is a beneficial strategy in improving the robustness of uncalibrated visual servoing. In this paper, a novel controller based on projective homography along with a new expression of optimal camera path are proposed to accomplish visual servoing tasks under totally uncalibrated situations. The interpolated poses of optimal path is express in the current planned frame, and the expression of optimal path is completely free of camera parameters and homography decomposition. The tracking of planned path is realized in projective homography space directly, based on the novel uncalibrated controller denoted as PHUVS. The simulation results prove the effectiveness of the proposed path optimization method and PHUVS controller.

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Vorheriges Kapitel On-Board Visual SLAM on a UGV Using a RGB-D Camera
Nächstes Kapitel A Fully Cloud-Based Modular Home Service Robot
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Metadaten
Titel
Projective Homography Based Uncalibrated Visual Servoing with Path Planning
verfasst von
Zeyu Gong
Bo Tao
Hua Yang
Zhouping Yin
Han Ding
Copyright-Jahr
2017
Buch
Intelligent Robotics and Applications

Print ISBN: 978-3-319-65297-9

Electronic ISBN: 978-3-319-65298-6

Copyright-Jahr: 2017

DOI
https://doi.org/10.1007/978-3-319-65298-6_29