Controlling robots with two cameras: how to do it properly
- 24 April 2000
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 2100-2105
- https://doi.org/10.1109/robot.2000.846339
Abstract
International audienceIn this paper we address visual servoing through a fixed stereo rig using an image Jacobian. Existing methods are based on the stacking of monocular servo image Jacobians, resulting in largely overÂconstrained control commands. In this paper we formally show that the epipolar constraint between two images can be taken into account explicitly. We then show that use of stereo significantly increases the quality of the servo task execution, especially where precision, ro bustness and smoothness of movement is concernedKeywords
This publication has 3 references indexed in Scilit:
- The fundamental matrix: Theory, algorithms, and stability analysisInternational Journal of Computer Vision, 1996
- Robot hand-eye coordination based on stereo visionIEEE Control Systems, 1995
- A new approach to visual servoing in roboticsIEEE Transactions on Robotics and Automation, 1992