Trajectory generation for obstacle avoidance of uncalibrated stereo visual servoing without 3D reconstruction

  title={Trajectory generation for obstacle avoidance of uncalibrated stereo visual servoing without 3D reconstruction},
  author={Koh Hosoda and Kenji Sakamoto and Minoru Asada},
In this paper, a trajectory generator for a visual servoing system is proposed to make the system accomplish obstacle avoidance tasks in unknown environments. Using an estimated epipolar constraint, the proposed scheme can generate trajectories for the visual servoing system on the 2D image planes by a simple obstacle avoidance method without reconstructing 3D geometry. The proposed scheme is based on the idea, “as long as one of projected trajectories does not intersect with projected… CONTINUE READING
Highly Cited
This paper has 98 citations. REVIEW CITATIONS

From This Paper

Figures, tables, and topics from this paper.


Publications citing this paper.
Showing 1-10 of 55 extracted citations

Uncalibrated stereo visual servoing for manipulators using virtual impedance control

2014 13th International Conference on Control Automation Robotics & Vision (ICARCV) • 2014
View 1 Excerpt

Visual Servoing

Computer Vision, A Reference Guide • 2014

Visual navigation and control of mobile robots based on environment mapping

Proceedings of the 2014 International Conference on Advanced Mechatronic Systems • 2014
View 1 Excerpt

Mobile robot navigation and control with monocular surveillance cameras

2013 CACS International Automatic Control Conference (CACS) • 2013
View 1 Excerpt

98 Citations

Citations per Year
Semantic Scholar estimates that this publication has 98 citations based on the available data.

See our FAQ for additional information.


Publications referenced by this paper.

Similar Papers

Loading similar papers…