Robotics and Computer Vision Lab

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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

List of Articles
53. 직선추출 알고리즘의 실시간 구현
Hakseo Oh, Joonwoong Lee, In So Kweon
9th Workshop on Image Processing and Image Understanding (IPIU) 1997 / 01
52. 영상처리를 이용한 차량의 검지
Youngsu Moon, Sangchul Jung, In So Kweon, 이기원
제어계측연구회, 로보틱스 및 자동화연구회 합동학술발표회 1996 / 04
51. 노이즈가 존재하는 영상 시퀀스에서의 운동물체추적
Dongjoong Kang, In So Kweon
8th Workshop on Image Processing and Image Understanding (IPIU) 1996 / 01
50. A self-localization algorithm for a mobile robot using projective invariant
Kyoungsig Roh, Wangheon Lee, Sangsam Jung, In So Kweon
Proceeding of 11th Korea Automatic Control Conference (KACC) 1996 / 01
49. A Kalman filter based visual tracking algorithm using the first-order differential invariants
J. Lee, In So Kweon
로보틱스 및 자동화연구회웍크샵 1995 / 04
48. Shot detection combining Bayesian and structural information
Seunghoon Han, In So Kweon
SPIE : Storage and Retrieval for Media Database 2001 2001 / 01
47. Moving Object Segmentation Algorithm
Kukjin Yoon, In So Kweon
1st International Workshop on Human-friendly Welfare Robotic Systems (HWRS) 2000 / 01
46. Self-calibration using the linear projective reconstruction
Jongeun Ha, Jinyoung Yang, In So Kweon
IEEE International Conference on Robotics and Automation (ICRA) 2000 / 11
45. Bayesian Shot Detection using Structural Weighting
Seunghoon Han, In So Kweon
International Workshop on Machine Vision Applications (MVA) 2000 / 11
» A novel image-based control-law for the visual servoing system
Jaeseung Cho, Howon Kim, In So Kweon
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2000 / 10
43. Robust Real-time Face Tracking Using Adaptive Color Model
Gijeong Jang, In So Kweon
International Symposium on Mechatronics and Intelligent Mechanical System for 21 Century (ISIM) 2000 / 10
42. Self-calibration algorithm under varying cameras using the linear
Jongeun Ha, In So Kweon
Asian Conference on Computer Vision (ACCV) 2000 / 01
41. Stereo Matching with Symmetric Cost Functions
Kukjin Yoon, In So Kweon
Proceeding of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2006 / 06
40. Correspondence Search in the Presence of Specular Highlights Using Specular-Free Two-Band Images
Kukjin Yoon, In So Kweon
Asian Conference on Computer Vision (ACCV) 2006 / 01
39. Infinite Homography Estimation Using Two Arbitrary Planar Rectangles
Jun-sik Kim, In So Kweon
Asian Conference on Computer Vision (ACCV) 2006 / 01
38. Scene Interpretation: Unified Modeling of Visual Context by Particle-based Belief Propagation in Hierarchical Graphical Model
Sungho Kim, In So Kweon
Asian Conference on Computer Vision (ACCV) 2006 / 01
37. Scalable Representation and Learning for 3D Object Recognition using Shared Feature-based View Clustering
Sungho Kim, In So Kweon
Asian Conference on Computer Vision(ACCV) 2006 / 01
36. Biologically Motivated Perceptual Feature: Generalized Robust Invariant Feature
Sungho Kim, In So Kweon
Asian Conference on Computer Vision(ACCV) 2006 / 01
35. Model-based Video Interpretation using Static and Temporal Context
Sungho Kim, In So Kweon
The 12th Korea-Japan Joint Workshop on Frontiers of Computer Vision (FCV) 2006 / 02
34. Hierarchical Context-based 3D Object Recognition for Scene Interpretation
Sungho Kim, Zhe Lin, In So Kweon
The 4th KAIST- Tsinghua Joint Workshop on Pattern Recognition 2005 / 09
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