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dc.contributor.authorPiepmeier, Jenelle Armstrong
dc.contributor.authorGumpert, Ben A.
dc.contributor.authorLipkin, Harvey
dc.date.accessioned2011-10-13T19:47:57Z
dc.date.available2011-10-13T19:47:57Z
dc.date.issued2002-05
dc.identifier.citationArmstrong Piepmeier, J., Gumpert, B.A., & Lipkin, H. (2002). "Uncalibrated Eye-in-Hand Visual Servoing". Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2002), 11-15 May 2002, Vol. 1, 568-573.en_US
dc.identifier.urihttp://hdl.handle.net/1853/41823
dc.description©2002 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.en_US
dc.descriptionPresented at the 2002 IEEE International Conference on Robotics and Automation (ICRA), 11-15 May 2002, Washington, D.C.
dc.descriptionDOI: 10.1109/ROBOT.2002.1013419
dc.description.abstractThis paper presents uncalibrated control schemes for vision-guided robotic tracking of a moving target using a moving camera. These control methods are applied to an uncalibrated robotic system with eye-in-hand visual feedback. Without a priori knowledge of the robot's kinematic model or camera calibration, the system is able to track a moving object and maintain the desired features. These control schemes estimate the system Jacobian as well as changes in target features due to target motion. Four novel strategies are simulated, and a variety of parameters are investigated with respect to performance.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectCamera calibrationen_US
dc.subjectEye-in-handen_US
dc.subjectKinematic modelsen_US
dc.subjectRobot visionen_US
dc.subjectUncalibrated controlen_US
dc.titleUncalibrated Eye-in-Hand Visual Servoingen_US
dc.typePost-printen_US
dc.typeProceedings
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.contributor.corporatenameUnited States Naval Academy
dc.contributor.corporatenameGeorgia Tech Research Institute
dc.publisher.originalInstitute of Electrical and Electronics Engineers


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