Adaptive homography-based visual servo tracking for a fixed camera configuration with a camera-in-hand extension

@article{Chen2005AdaptiveHV,
  title={Adaptive homography-based visual servo tracking for a fixed camera configuration with a camera-in-hand extension},
  author={Jian Chen and Darren M. Dawson and Warren E. Dixon and Aman Behal},
  journal={IEEE Transactions on Control Systems Technology},
  year={2005},
  volume={13},
  pages={814-825}
}
In this brief, a homography-based adaptive visual servo controller is developed to enable a robot end-effector to track a desired Euclidean trajectory as determined by a sequence of images for both the camera-in-hand and fixed-camera configurations. To achieve the objectives, a Lyapunov-based adaptive control strategy is employed to actively compensate for the lack of unknown depth measurements and the lack of an object model. The error systems are constructed as a hybrid of pixel information… CONTINUE READING
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