Choice of image features for depth-axis control in image based visual servo control
Mahony, R., Corke, Peter, & Chaumette, F. (2002) Choice of image features for depth-axis control in image based visual servo control. In IEEE International Conference on Intelligent Robots and Systems.
This paper is concerned with choosing image features for image based visual servo control and how this choice influences the closed-loop dynamics of the system. In prior work, image features tend to be chosen on the basis of image processing simplicity and noise sensitivity. In this paper we show that the choice of feature directly influences the closed-loop dynamics in task-space. We focus on the depth axis control of a visual servo system and compare analytically various approaches that have been reported recently in the literature. The theoretical predictions are verified by experiment.
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|Item Type:||Conference Paper|
|Keywords:||closed loop dynamics, sensory networks|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)|
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering|
|Deposited On:||01 Jul 2010 06:03|
|Last Modified:||16 Sep 2010 12:26|
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