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International Conference
2009.09.16 18:17

A novel image-based control-law for the visual servoing system

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저 자 Jaeseung Cho, Howon Kim, In So Kweon
학 회 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
논문일시(Year) 2000
논문일시(Month) 10
In this paper, we analyze and solve the problem of
image-based visual servoing system under large initial
pose error. In this case we must consider camera field of
view and the violation of the assumption of image-based
visual servoing: control-law is derived from linear
approximation of the image error between the gripper and
the target object.
To solve this problem, we propose a unified
image-based control strategy with a new image space
named as Virtual Image Plane (VIP). And next we
propose an image-based control-law by decoupling the
translation and rotation motion of the large pose error.
The remarkable property of our method is that we only
use the combination of the image features in the 2D image
space. Finally we demonstrate the feasibility of the proposed
system through experiments using a six-DOF robot equipped
with a stereo camera

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List of Articles
54. CALOS : Camera And Laser for Odometry Sensing
Yunsu Bok, Youngbae Hwang, In So Kweon
Proceedings of the 13th Japan-Korea Joint Workshop on Frontiers of Computer Vision (FCV) 2007 / 01
53. Object Categorization Robust to Surface Markings using Entropy-guided Codebook
Sungho Kim, In So Kweon
IEEE Workshop on Applications of Computer Vision (WACV) 2007 / 02
52. Determination of Color Space for Accurate Change Detection
Youngbae Hwang, Jun-sik Kim, In So Kweon
IEEE International Conference on Image Processing (ICIP) 2006 / 10
51. Semi-metric Space: A New Approach to Treat Orthogonality and Parallelism
Jun-sik Kim, In So Kweon
Asian Conference on Computer Vision (ACCV) 2006 / 01
50. Synergistic Place and Object Recognition using Bidirectional Context Information
Sungho Kim, In So Kweon
British Machine Vision Conference (BMVC) 2006 / 09
49. Fast Separation of Reflection Components Using a Specularity-Invariant Image Representation
Kukjin Yoon, Yoojin Choi, In So Kweon
IEEE International Conference on Image Processing (ICIP) 2006 / 10
48. Estimating Intrinsic Parameters of Cameras using Two Arbitrary Rectangles
Jun-sik Kim, In So Kweon
International Conference on Pattern Recognition (ICPR) 2006 / 08
47. Multi-Modal Sequential Monte Carlo for On-Line Hierarchical Graph Structure Estimation in Model-based Scene Interpretation
Sungho Kim, In So Kweon
International Conference on Pattern Recognition (ICPR) 2006 / 08
46. Automatic Extraction of Parallel Lines in Catadioptric Images
Jean-Charles Bazin, In So Kweon
Proc. of 13th IEEE International Conference on Advanced Robotics (IEEE ICAR'07) 2007 / 08
45. Simultaneous Classification and Visual Word Selection using Entropy-based Minimum Description Length
Sungho Kim, In So Kweon
International Conference on Pattern Recognition (ICPR) 2006 / 08
44. Fast Central Catadioptric Line Extraction
Jean-Charles Bazin, Cedric Demonceaux, Pascal Vasseur
Proc. of 3rd Iberian Conference on Pattern Recognition and Image Analysis (IbPRIA’07) 2007 / 06
43. Background Robust Object Labeling by Voting of Weight-Aggregated Local Features
Sungho Kim, Kukjin Yoon, In So Kweon
International Conference on Pattern Recognition (ICPR) 2006 / 08
42. Object Recognition using Generalized Robust Invariant Feature and Gestalt Law of Proximity and Similarity
Sungho Kim, Kukjin Yoon, In So Kweon
5th IEEE Workshop on Perceptual Organization in Computer Vision (CVPRW) 2006 / 06
41. Efficient Feature Tracking for Visual SLAM by Pairwise Constraints
Jungho Kim, Hyeongwoo Kim, In So Kweon
The 4th International Conference on Ubiquitous Robots and Ambient Intelligence(URAI) 2007 / 11
40. COP: A new method for extracting edges and corners
Suncheol Bae, In So Kweon, ChoongDon Yoo
Lecture Notes in Computer Science (LNCS) 2006 / 01
39. Cosegmentation as a Generalized Correspondence Problem -A Motion Model Driven Approach
Ouk Choi, In So Kweon
The 4th International Conference on Ubiquitous Robots and Ambient Intelligence(URAI) 2007 / 11
38. Euclidean Structure from Confocal Conics: Theory and Application to Camera Calibration
Pierre Gurdijos, Jun-sik Kim, In So Kweon
Proceeding of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2006 / 07
37. Terrain Classification Using Texture Recognition for Autonomous Robot
Hanbyul Joo, In So Kweon
The 4th International Conference on Ubiquitous Robots and Ambient Intelligence(URAI) 2007 / 11
36. Simultaneous Plane Extraction and 2D Homography Estimation using Local Feature Transformations
Ouk Choi, Hyeongwoo Kim, In So Kweon
Asian Conference on Computer Vision 2007 / 11
35. Robust Feature Matching for Loop Closing and Localization
Jungho Kim, In So Kweon
IEEE/RSJ International Conference on Robots and Systems 2007 / 10
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