International Journal of Computer Vision - Special issue on image-based servoing
Multiple view geometry in computer vision
Multiple view geometry in computer vision
Estimating the Fundamental Matrix via Constrained Least-Squares: A Convex Approach
IEEE Transactions on Pattern Analysis and Machine Intelligence
The Geometry of Multiple Images: The Laws That Govern The Formation of Images of A Scene and Some of Their Applications
A Fast Approach for Robot Motion Planning
Journal of Intelligent and Robotic Systems
A Simple Technique for Improving Camera Displacement Estimation in Eye-in-Hand Visual Servoing
IEEE Transactions on Pattern Analysis and Machine Intelligence
Camera Displacement via Constrained Minimization of the Algebraic Error
IEEE Transactions on Pattern Analysis and Machine Intelligence
Visual servoing for large camera displacements
IEEE Transactions on Robotics
Keeping features in the field of view in eye-in-hand visual servoing: a switching approach
IEEE Transactions on Robotics
Point-based and region-based image moments for visual servoing of planar objects
IEEE Transactions on Robotics
IEEE Transactions on Robotics
Ensuring visibility in calibration-free path planning for image-based visual servoing
IEEE Transactions on Robotics
Global Path-Planning for Constrained and Optimal Visual Servoing
IEEE Transactions on Robotics
Catadioptric Visual Servoing From 3-D Straight Lines
IEEE Transactions on Robotics
Automatic grasp planning for visual-servo controlled roboticmanipulators
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Brief Homogeneous Lyapunov functions for systems with structured uncertainties
Automatica (Journal of IFAC)
Decoupled image-based visual servoing for cameras obeying the unified projection model
IEEE Transactions on Robotics
Optimal object configurations to minimize the positioning error in visual servoing
IEEE Transactions on Robotics
Predictive control for constrained image-based visual servoing
IEEE Transactions on Robotics
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Path planning is a useful technique for visual servoing as it allows one to take into account system constraints and achieve desired performances during the camera motion. In this paper, we propose a new framework for path planning based on the use of homogeneous forms and linear matrix inequalities (LMIs). Specifically, we introduce a general parametrization of the trajectories from the initial to the desired location based on homogeneous forms and a parameter-dependent version of the Rodrigues formula. This allows us to impose typical constraints (field of view, workspace, joint, avoidance of collision, and occlusion) via positivity conditions on suitable homogeneous forms. Then, we reformulate the problem of finding a trajectory in the 3-D space satisfying all these constraints as an LMI optimization that can handle the maximization of typical performances (e.g., visibility margin, similarity to a straight line). The planned camera path is tracked by using an image-based controller. The proposed approach is illustrated and validated through simulations and experiments.