Adaptive Visual Servoing in the Presence of Intrinsic Calibration Uncertainty

Abstract

In this paper, we design an adaptive kinematic controller that asymptotically regulates a robot end-effector to a desired position and orientation under visual feedback (of points located on a fixed reference frame) from a camera mounted on the end-effector. This task is accomplished despite lack of depth measurements as well as uncertainty in the camera intrinsic parameter matrix.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 2003
Accession Number
ADA478509

Entities

People

  • A. Behal
  • D. M. Dawson
  • Jiayu Chen
  • W. E. Dixon

Organizations

  • Clemson University

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • C4I

DTIC Thesaurus Topics

  • Algorithms
  • Calibration
  • Camera Controls
  • Cameras
  • Control Systems
  • Coordinate Systems
  • Dynamics
  • Eigenvalues
  • Engineering
  • Feedback
  • Orientation (Direction)
  • Robotics
  • Robots
  • Rotation
  • Translations
  • Uncertainty
  • Visual Servoing

Readers

  • Calculus or Mathematical Analysis
  • Geodesy
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy
  • Autonomy - Autonomous System Control