Approximating the Visuomotor Function for Visual Servoing

Authors:
Affiliations:
Venue:
CRV '04 Proceedings of the 1st Canadian Conference on Computer and Robot Vision
Year:
2004

Citing 1
Cited 1

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Visual servo control using stereo image Jacobian

ACMOS'06 Proceedings of the 8th WSEAS international conference on Automatic control, modeling & simulation

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Abstract

This paper introduces a new approach to visual servoing by learning to perform tasks such as centering. The system uses function approximation from reinforcement learning to learn the visuomotor function of a task which relates actions to perceptual variations. The function model is linear and tile coding is used for generalization. The gradient-descent SARSA algorithm is used to determine the parameters. Experiments show that the system learns to center targets at different depths with stereo vision and fully reconfigures itself in monocular case.