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Robust Image-Based Visual Servoing With Prescribed Performance Under Field of View Constraints | IEEE Journals & Magazine | IEEE Xplore

Robust Image-Based Visual Servoing With Prescribed Performance Under Field of View Constraints


Abstract:

In this paper, we propose a visual servoing scheme that imposes predefined performance specifications on the image feature coordinate errors and satisfies the visibility ...Show More

Abstract:

In this paper, we propose a visual servoing scheme that imposes predefined performance specifications on the image feature coordinate errors and satisfies the visibility constraints that inherently arise owing to the camera's limited field of view, despite the inevitable calibration and depth measurement errors. Its efficiency is demonstrated via comparative experimental and simulation studies.
Published in: IEEE Transactions on Robotics ( Volume: 35, Issue: 4, August 2019)
Page(s): 1063 - 1070
Date of Publication: 22 May 2019

ISSN Information:


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