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Measurement errors in visual servoing
KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.
KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.ORCID iD: 0000-0003-2965-2953
KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.
2004 (English)In: 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, 1861-1867 p.Conference paper, Published paper (Refereed)
Abstract [en]

In recent years, a number of hybrid visual servoing control algorithms have been proposed and evaluated. For some time now, it has been clear that classical control approaches - image and position based - have some inherent problems. Hybrid approaches try to combine them to overcome these problems. However, most of the proposed approaches concentrate on the design of the control law, neglecting the issue of errors resulting from the sensory system. This paper addresses the issue of measurement errors in visual servoing. The particular contribution is the analysis of the propagation of image error through pose estimation and visual servoing control law. We have chosen to investigate the properties of the vision system and their effect to the performance of the control system. Two approaches are evaluated: i) position, and ii) 2 1/2 D visual servoing. We believe that our evaluation offers a tool to build and analyze hybrid control systems based on, for example, switching [1] or partitioning [2].

Place, publisher, year, edition, pages
2004. 1861-1867 p.
Series
IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, ISSN 1050-4729
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-44351DOI: 10.1109/ROBOT.2004.1308095ISI: 000221794800301Scopus ID: 2-s2.0-3042585335ISBN: 0-7803-8232-3 (print)OAI: oai:DiVA.org:kth-44351DiVA: diva2:450929
Conference
IEEE International Conference on Robotics and Automation Location: New Orleans, LA Date: APR 26-MAY 01, 2004
Note
QC 20111024Available from: 2011-10-24 Created: 2011-10-20 Last updated: 2012-01-24Bibliographically approved

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Kragic, Danica

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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More styles
Language
  • de-DE
  • en-GB
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  • fi-FI
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  • Other locale
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Output format
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