Robust image-based visual servoing using invariant visual information
نویسندگان
چکیده
This paper deals with the use of invariant visual features for visual servoing. New features are proposed to control the 6 degrees of freedom of a robotic system with better linearizing properties and robustness to noise than the state of the art in image-based visual servoing. We show in this paper that by using these features the behavior of image-based visual servoing in task space can be significantly improved. Several experimental results are provided and validate our proposal. © 2013 Elsevier B.V. All rights reserved.
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ورودعنوان ژورنال:
- Robotics and Autonomous Systems
دوره 61 شماره
صفحات -
تاریخ انتشار 2013