Abstract
This paper presents a novel approach to image-based visual servoing by making motion plans directly in the image plane. By skipping the step of transferring image features back to robot pose, we are able to utilize the image features for a direct and fast motion planning solution. Standard visual servoing techniques can then be applied to track the given trajectory. In this paper, we have applied the idea to 2-D and 3-D (kinematic) motion planning and discussed the mechanisms for taking advantage of surplus features and incorporating other image-based constraints, such as that the targets always remain in the field of view.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 3811-3816 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 4 |
| State | Published - Dec 3 2000 |
| Externally published | Yes |
| Event | ICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA Duration: Apr 24 2000 → Apr 28 2000 |
All Science Journal Classification (ASJC) codes
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering