A multirate strategy for the control of a nonholonomic mobile robot using a visual servoing approach is presented. Such a control is based on a mathematical model computed using two virtual image features. The proposed multirate digital control technique guarantees their presence in the camera field of view during all the robot motion. The absence of obstacles in the robot configuration space i...

A robot system for positioning an ultrasound probe has been developed [1]. Ultrasound visual servoing can be used to help ultrasound technicians position the ultrasound probe. The feasibility of visual servoing for motion in the plane of the ultrasound probe in one dimension has been addressed here. Tracking of the carotid artery for a long period of time has been demonstrated in real-time. Two...

Ein neuartiger visueller Regler zur autonomen, bildbasierten Navigation einer mobilen Plattform (Rollstuhl) wird vorgestellt. Ziel ist es, den Rollstuhl mittels Image-Based Visual Servoing in eine relative Lage bezüglich einer Landmarke zu navigieren, was allein durch Auswertung von Abweichungen im Kamerabild und ohne Bestimmung der Landmarkenposition in Weltkoordinaten geschieht. Dies wird mit...

The calibration requirements f o r visual servoing can make it di f icul t to apply in m a n y real-world situations. One approach t o image-based visual servoing without calibration is to dynamically estimate the image Jacobian and use at as the basis for control. However, wath the normal motion of a robot towards the goal, the estimation of the image Jacobian deteraorates ouer t ime. W e prop...

Up to now, different methods have been proposed to track trajectories using visual servoing systems. However, when these approaches are employed to track trajectories specified with respect to moving objects, different considerations must be included in the visual servoing formulation to progressively decrease the tracking error. This paper shows the main properties of a non-time dependent visu...

This paper concerns the stability analysis of image-based visual servoing methods with respect to uncertainties on the depths of the observed object. In the recent past, research on image-based visual servoing has been concentrated on potential problems of stability and on robustness with respect to camera calibration errors. Only little attention, if any, has been devoted to the robustness of ...

Visual tracking of moving objects is one of the most fundamental capabilities for intelligent robots to accomplish the given task in unknown, dynamic environments. Visual servoing which utilizes direct feedback from image features to motion control has been used to realize such capability. However, the conventional visual servoing needs much knowledge on the system parameters such as kinematics...

Unter dem Begri↵ Visual Servoing werden Ansätze zur visuell geregelten Ausführung z.B. von Roboterbewegungen zusammengefasst. Hierbei werden durch kontinuierliche Analyse von Kamerabildern Stellgrößen erzeugt, um beispielsweise einen Roboterarm anzusteuern. In diesem Artikel stellen wir das Visual-Servoing-System des humanoiden Roboters ARMAR-III vor, welches eine zuverlässige Ausführung von ei...

We present initial progress on so-called extended visual servoing, an integrated approach of controlling mobile robots equipped with multiple sensors. Our approach to sensor fusion uses the mathematical framework of visual servoing for a higher dimensional feature space that incorporates other sensors in addition to vision (which still plays a central role). Analysis and simulation on a planar ...