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Robust Image-Based Visual Servoing With Prescribed Performance Under Field of View Constraints
Natl Tech Univ Athens, Sch Mech Engn, Control Syst Lab, Zografos 15780, Greece..
KTH, School of Electrical Engineering and Computer Science (EECS).
Natl Tech Univ Athens, Sch Mech Engn, Control Syst Lab, Zografos 15780, Greece..
Natl Tech Univ Athens, Sch Mech Engn, Control Syst Lab, Zografos 15780, Greece..
2019 (English)In: IEEE Transactions on robotics, ISSN 1552-3098, E-ISSN 1941-0468, Vol. 35, no 4, p. 1063-1070Article in journal (Refereed) Published
Abstract [en]

In this paper, we propose a visual servoing scheme that imposes predefined performance specifications on the image feature coordinate errors and satisfies the visibility constraints that inherently arise owing to the camera's limited field of view, despite the inevitable calibration and depth measurement errors. Its efficiency is demonstrated via comparative experimental and simulation studies.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2019. Vol. 35, no 4, p. 1063-1070
Keywords [en]
Field of view constraints, robustness, visual servoing
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-257646DOI: 10.1109/TRO.2019.2914333ISI: 000480360700020Scopus ID: 2-s2.0-85070470300OAI: oai:DiVA.org:kth-257646DiVA, id: diva2:1348411
Note

QC 20190904

Available from: 2019-09-04 Created: 2019-09-04 Last updated: 2019-09-04Bibliographically approved

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Heshmati-alamdari, Shahab
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