Abstract
The paper introduces a robot visual/inertial servoing algorithm when the robot needs to track an object with inertial sensors inside. In this situation, first, inertial Jacobian is newly defined to show the relationship between an angle set velocity vector and angular velocity vector of the robot tip. That is combined with the conventional image Jacobian for the proposed robot servoing algorithm. While four landmarks have been used in the conventional visual servoing algorithm, the proposed algorithm requires only two landmarks with help of the IMU to track a moving object. Simulation and Implementation have been done to verify the feasibility of the proposed methodology.
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© 2009 Springer-Verlag Berlin Heidelberg
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Nguyen, H.Q.P., Kang, HJ., Suh, YS., Ro, YS. (2009). A Robot Visual/Inertial Servoing to an Object with Inertial Sensors. In: Huang, DS., Jo, KH., Lee, HH., Kang, HJ., Bevilacqua, V. (eds) Emerging Intelligent Computing Technology and Applications. ICIC 2009. Lecture Notes in Computer Science, vol 5754. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-04070-2_55
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DOI: https://doi.org/10.1007/978-3-642-04070-2_55
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-04069-6
Online ISBN: 978-3-642-04070-2
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