Please use this identifier to cite or link to this item:
https://hdl.handle.net/10316/27729
Title: | Robust image-based visual servoing using invariant visual information | Authors: | Tahri, Omar Araujo, Helder Chaumette, François Mezouar, Youcef |
Keywords: | Robust visual servoing; Spherical projection | Issue Date: | Dec-2013 | Publisher: | Elsevier | Citation: | TAHRI, Omar [et. al] - Robust image-based visual servoing using invariant visual information. "Robotics and Autonomous Systems". ISSN 0921-8890. Vol. 61 Nº. 12 (2013) p. 1588–1600 | Serial title, monograph or event: | Robotics and Autonomous Systems | Volume: | 61 | Issue: | 12 | Abstract: | 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. | URI: | https://hdl.handle.net/10316/27729 | ISSN: | 0921-8890 | DOI: | 10.1016/j.robot.2013.06.010 | Rights: | openAccess |
Appears in Collections: | I&D ISR - Artigos em Revistas Internacionais |
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Robust image-based visual servoing using invariant visual information.pdf | 2.65 MB | Adobe PDF | View/Open |
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