Uncalibrated Eye-in-Hand Visual Servoing

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dc.contributor.author Piepmeier, Jenelle Armstrong
dc.contributor.author Gumpert, Ben A.
dc.contributor.author Lipkin, Harvey
dc.date.accessioned 2011-10-13T19:47:57Z
dc.date.available 2011-10-13T19:47:57Z
dc.date.issued 2002-05
dc.identifier.citation Armstrong 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.uri http://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.description Presented at the 2002 IEEE International Conference on Robotics and Automation (ICRA), 11-15 May 2002, Washington, D.C.
dc.description DOI: 10.1109/ROBOT.2002.1013419
dc.description.abstract This 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.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Camera calibration en_US
dc.subject Eye-in-hand en_US
dc.subject Kinematic models en_US
dc.subject Robot vision en_US
dc.subject Uncalibrated control en_US
dc.title Uncalibrated Eye-in-Hand Visual Servoing en_US
dc.type Post-print en_US
dc.type Proceedings
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.contributor.corporatename United States Naval Academy
dc.contributor.corporatename Georgia Tech Research Institute
dc.publisher.original Institute of Electrical and Electronics Engineers

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