A Simple Technique for Improving Camera Displacement Estimation in Eye-in-Hand Visual Servoing

Authors:
Graziano Chesi;Koichi Hashimoto
Affiliations:
-;IEEE
Venue:
IEEE Transactions on Pattern Analysis and Machine Intelligence
Year:
2004

Citing 9
Cited 7

Motion and Structure From Two Perspective Views: Algorithms, Error Analysis, and Error Estimation

IEEE Transactions on Pattern Analysis and Machine Intelligence
Robust recovery of the epipolar geometry for an uncalibrated stereo rig

ECCV '94 Proceedings of the third European conference on Computer vision (vol. 1)
Determining the Epipolar Geometry and its Uncertainty: A Review

International Journal of Computer Vision
Linear N-Point Camera Pose Determination

IEEE Transactions on Pattern Analysis and Machine Intelligence
2 1/2 D Visual Servoing with Respect to Unknown Objects Through a New Estimation Scheme of Camera Displacement

International Journal of Computer Vision - Special issue on image-based servoing
Fast and Globally Convergent Pose Estimation from Video Images

IEEE Transactions on Pattern Analysis and Machine Intelligence
Efficient Linear Solution of Exterior Orientation

IEEE Transactions on Pattern Analysis and Machine Intelligence
The Geometry of Multiple Images: The Laws That Govern The Formation of Images of A Scene and Some of Their Applications

The Geometry of Multiple Images: The Laws That Govern The Formation of Images of A Scene and Some of Their Applications
Linear Pose Estimation from Points or Lines

IEEE Transactions on Pattern Analysis and Machine Intelligence

Self-calibrated visual servoing with respect to axial-symmetric 3D objects

Robotics and Autonomous Systems
Visual servoing path planning via homogeneous forms and LMI optimizations

IEEE Transactions on Robotics
Designing image trajectories in the presence of uncertain data for robust visual servoing path-planning

ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Parking with the essential matrix without short baseline degeneracies

ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A kalman-filter-based method for pose estimation in visual servoing

IEEE Transactions on Robotics
Vision-based exponential stabilization of mobile robots

Autonomous Robots
Angle-based homing from a reference image set using the 1D trifocal tensor

Autonomous Robots

Quantified Score

Hi-index	0.14

Visualization

Abstract

A simple technique for estimating the camera displacement from point correspondences in eye-in-hand visual servoing is presented. The idea for providing more accurate results than existing methods consists of taking into account that the point correspondences used during the camera motion correspond to stationary spatial points, hence exploiting additional information. This is done by first estimating the object Euclidean structure and then estimating the camera displacement from this estimate.