Robotic eye-to-hand coordination: Implementing visual perception to object manipulation
International Journal of Hybrid Intelligent Systems - Recent developments in Hybrid Intelligent Systems
Stereo vision specific models for particle filter-based SLAM
Robotics and Autonomous Systems
Global path planning for robust visual servoing in complex environments
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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In this paper, a trajectory generator for a visual servoing system is proposed to make the system accomplish obstacle avoidance tasks in unknown environments. Using an estimated epipolar constraint, the proposed scheme can generate trajectories for the visual servoing system on the 2D image planes by a simple obstacle avoidance method without reconstructing 3D geometry. The proposed scheme is based on the idea, "as long as one of the projected trajectories does not intersect with projected obstacles, the trajectory in 3D space can avoid the obstacles". An experimental result is shown to demonstrate the validity of a combination of the proposed trajectory generator and the visual servoing control scheme.