AN EXPONENTIAL CLASS OF VISUAL SERVOING CONTROLLERS IN THE PRESENCE OF UNCERTAIN CAMERA CALIBRATION

Y. Fang, W.E. Dixon, D.M. Dawson, and J. Chen

Keywords

Visual servoing, calibration, homography

Abstract

Based on the estimation of the relative camera orientation between two views of an object, a new class of model-free (i.e., the threedimensional task-space model of the object is unknown) visual servoing methods was recently proposed, and has been proven to yield asymptotic regulation results. For the same visual system, this paper crafts new control development with stability analysis to develop new translation controllers that yield exponential rotation and translation regulation in the presence of uncertainty in the intrinsic and extrinsic calibration parameters. The performance of the controller is validated by simulation results.

Important Links:



Go Back