Exploiting image motion for active vision in a visual servoing framework
International Journal of Robotics Research
Modeling, Identification and Control of Robots
Modeling, Identification and Control of Robots
Embedded active vision system based on an FPGA architecture
EURASIP Journal on Embedded Systems
Simultaneous object pose and velocity computation using a single view from a rolling shutter camera
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part II
Visual Control of Planar Parallel Robots Without Using Velocity Measurements
Journal of Intelligent and Robotic Systems
Dynamic visual servoing from sequential regions of interest acquisition
International Journal of Robotics Research
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This paper presents a high speed visual tracking method based on non simultaneous subimages acquisition. This method is formulated as a virtual visual servoing scheme. The sequential acquisition of regions of interest has a double benefit on visual servoing. The first one is that this acquisition method allows to increase the visual control sampling frequency by reducing the data amount to acquire and to transmit by the camera. The second one is that the associated image projection model depends on the observed object pose and velocity. Thanks to this property, a new vision-based control law can be defined. The particularity of this control law is that the control output consists of the kinematic and the dynamic twists. This allows to enhance the control performance in trajectory tracking applications. The experimental results in high speed visual tracking application show the effectiveness of this approach.