Dynamic visual tracking control of a mobile robot with image noise and occlusion robustness
Image and Vision Computing
A unified approach to integrate unilateral constraints in the stack of tasks
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Real-time Quadrifocal Visual Odometry
International Journal of Robotics Research
Visual servoing of redundant manipulator with Jacobian matrix estimation using self-organizing map
Robotics and Autonomous Systems
Journal of Real-Time Image Processing
3D model based tracking for omnidirectional vision: A new spherical approach
Robotics and Autonomous Systems
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A fundamental step toward broadening the use of real-world image-based visual servoing is to deal with the important issue of reliability and robustness. In order to address this issue, a closed-loop control law is proposed that simultaneously accomplishes a visual servoing task and is robust to a general class of image processing errors. This is achieved with the application of widely accepted statistical techniques such as robust M-estimation and LMedS. Experimental results are presented which demonstrate visual servoing tasks that resist severe outlier contamination.