Uncalibrated Dynamic Visual Servoing

Abstract

A dynamic quasi-Newton method for uncalibrated vision-guided robotic tracking control with fixed imaging is developed and demonstrated. This method does not require calibrated kinematic and camera models. Robotic control is achieved at each step through minimizing a nonlinear objective function by taking quasi-Newton steps and estimating the composite Jacobian at each step. The Jacobian is estimated using a dynamic recursive least squares algorithm. Experimental results demonstrate the validity of this approach.

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Document Details

Document Type
Technical Report
Publication Date
May 01, 2003
Accession Number
ADA572863

Entities

People

  • G.v. Mcmurray
  • H. Lipkin
  • J.a. Piepmeier

Organizations

  • United States Naval Academy

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Algorithms
  • Automation
  • Computer Stereo Vision
  • Computer Vision
  • Control Systems
  • Engineering
  • Equations
  • Estimators
  • Image Processing
  • Moving Targets
  • Robotics
  • Robots
  • Simulations
  • Steady State
  • Systems Engineering
  • United States Naval Academy
  • Visual Servoing

Readers

  • Computer Vision.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy