A new method for uncalibrated visual servoing

被引：0
|
作者：
Bonkovic, M. [1 ]
Hace, A. [2 ]
Jezernik, K. [2 ]
机构：
[1] Fac Elect Engn Mech Engn & Naval Architecture, Split, Croatia
[2] Univ Maribor, Fac Elect Engn & Comp Sci, Maribor, Slovenia
来源：
9TH IEEE INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, VOLS 1 AND 2, PROCEEDINGS | 2006年
关键词：
D O I：
10.1109/AMC.2006.1631732
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper introduces a novel method for visual servoing based on the generalization of quasi-Newton methods for nonlinear optimization. The method calibrates a linear model based on several previous iterates. The difference with existing approaches is that we do not impose the linear model to interpolate the function. Instead, we prefer to identify the linear model which is as close as possible to the nonlinear function, in the least squares sense. The new system has shown to be less sensitive to noise and exhibits a faster convergence than conventional quasi-Newton methods. The theoretical results are verified experimentally.
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页码：624 / +
页数：2
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