Uncalibrated Visual Servoing
نویسندگان
چکیده
Visual servoing is a process to enable a robot to position a camera with respect to known landmarks using the visual data obtained by the camera itself to guide camera motion. A solution is described which requires very little a priori information freeing it from being speciic to a particular connguration of robot and camera. The solution is based on closed loop control together with deliberate perturbations of the trajectory to provide calibration movements for reening that trajec-tory. Results from experiments in simulation and on a physical robot arm (camera-in-hand connguration) are presented.
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تاریخ انتشار 1996