{"title":"视觉伺服控制中图像稳定性与位姿误差的同步研究","authors":"N. Gans, G. Hu, W. Dixon","doi":"10.1109/ISIC.2008.4635970","DOIUrl":null,"url":null,"abstract":"A novel visual servo controller is developed in this paper that simultaneously regulates both the camera pose and image errors. This Lyapunov-based controller stabilizes both the entire image and pose error simultaneously. Furthermore, the controller uses adaptive depth estimation to eliminate the need to measure depth or obtain knowledge of the scene.","PeriodicalId":342070,"journal":{"name":"2008 IEEE International Symposium on Intelligent Control","volume":"2013 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Simultaneous Stability of Image and Pose Error in Visual Servo Control\",\"authors\":\"N. Gans, G. Hu, W. Dixon\",\"doi\":\"10.1109/ISIC.2008.4635970\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A novel visual servo controller is developed in this paper that simultaneously regulates both the camera pose and image errors. This Lyapunov-based controller stabilizes both the entire image and pose error simultaneously. Furthermore, the controller uses adaptive depth estimation to eliminate the need to measure depth or obtain knowledge of the scene.\",\"PeriodicalId\":342070,\"journal\":{\"name\":\"2008 IEEE International Symposium on Intelligent Control\",\"volume\":\"2013 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2008-09-30\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2008 IEEE International Symposium on Intelligent Control\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISIC.2008.4635970\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2008 IEEE International Symposium on Intelligent Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISIC.2008.4635970","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Simultaneous Stability of Image and Pose Error in Visual Servo Control
A novel visual servo controller is developed in this paper that simultaneously regulates both the camera pose and image errors. This Lyapunov-based controller stabilizes both the entire image and pose error simultaneously. Furthermore, the controller uses adaptive depth estimation to eliminate the need to measure depth or obtain knowledge of the scene.
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