Adaptive visual servoing in the presence of intrinsic calibration uncertainty

被引：7
|
作者：
Chen, J [1 ]
Behal, A [1 ]
Dawson, DM [1 ]
Dixon, WE [1 ]
机构：
[1] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA
来源：
42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS | 2003年
关键词：
D O I：
10.1109/CDC.2003.1272495
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we design an adaptive kinematic controller that asymptotically regulates a robot end-effector to a desired position and orientation under visual feedback (of points located on a fixed reference frame) from a camera mounted on the end-effector. This task is accomplished despite lack of depth measurements as well as uncertainty in the camera intrinsic parameter matrix.
引用
收藏
页码：5396 / 5401
页数：6
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