Uncalibrated dynamic visual servoing using line features

  title={Uncalibrated dynamic visual servoing using line features},
  author={Hesheng Wang and Yunhui Liu and Zhongli Wang},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
This paper presents a novel adaptive controller for image-based visual servoing of robots with an uncalibrated eye-in-hand camera using line features. The controller is developed based on three key ideas. First, we propose a new method that is similar to the Plucker coordinates, to represent projections of the lines features. The new representation leads to a depth-independent image Jacobian matrix and an error vector between real images and estimated projections of the lines, which are both… CONTINUE READING
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