Visual servoing path planning via homogeneous forms and LMI optimizations
IEEE Transactions on Robotics
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Robotics and Autonomous Systems
Predictive control for constrained image-based visual servoing
IEEE Transactions on Robotics
Neural network Reinforcement Learning for visual control of robot manipulators
Expert Systems with Applications: An International Journal
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We consider the problem of planning a path for image-based eye-in-hand visual servoing applications, when using an uncalibrated camera. Recent developments in this field lead to analytical interpolation between two views of an unknown object, in the projective space. Literature also provides extensions of these approaches that account for the target visibility constraint. Unfortunately, these extensions require an (even weakly) calibrated camera, and involve iterative algorithms that are not proven to converge. In this paper, we propose a modification of an existing projective interpolation algorithm that guarantees the visibility of the observed target, while avoiding the use of any knowledge on the camera calibration parameters, nor on the observed object