Adaptive depth estimation in image based visual servo control of dynamic systems

Robert Mahony; Arved Von Brasch; Peter Corke; Tarek Hamel

doi:10.1109/CDC.2005.1583016

Adaptive depth estimation in image based visual servo control of dynamic systems

Robert Mahony^*, Arved Von Brasch, Peter Corke, Tarek Hamel

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Citations (Scopus)

Abstract

This paper considers the question of designing a fully image based visual servo control for a dynamic system. The work is motivated by the ongoing development of image based visual servo control of small aerial robotic vehicles. The observed targets considered are coloured blobs on a flat surface to which the normal direction is known. The theoretical framework is directly applicable to the case of markings on a horizontal floor or landing field. The image features used are a first order spherical moment for position and an image flow measurement for velocity. A fully non-linear adaptive control design is provided that ensures global stability of the closed-loop system.

Original language	English
Title of host publication	Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Pages	5372-5378
Number of pages	7
DOIs	https://doi.org/10.1109/CDC.2005.1583016
Publication status	Published - 2005
Event	44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville, Spain Duration: 12 Dec 2005 → 15 Dec 2005

Publication series

Name	Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Volume	2005

Conference

Conference	44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Country/Territory	Spain
City	Seville
Period	12/12/05 → 15/12/05

Access to Document

10.1109/CDC.2005.1583016

Cite this

Mahony, R., Von Brasch, A., Corke, P., & Hamel, T. (2005). Adaptive depth estimation in image based visual servo control of dynamic systems. In Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 (pp. 5372-5378). Article 1583016 (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05; Vol. 2005). https://doi.org/10.1109/CDC.2005.1583016

Mahony, Robert ; Von Brasch, Arved ; Corke, Peter et al. / Adaptive depth estimation in image based visual servo control of dynamic systems. Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05. 2005. pp. 5372-5378 (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05).

@inproceedings{7dea891766604754a5d26b900654e801,

title = "Adaptive depth estimation in image based visual servo control of dynamic systems",

abstract = "This paper considers the question of designing a fully image based visual servo control for a dynamic system. The work is motivated by the ongoing development of image based visual servo control of small aerial robotic vehicles. The observed targets considered are coloured blobs on a flat surface to which the normal direction is known. The theoretical framework is directly applicable to the case of markings on a horizontal floor or landing field. The image features used are a first order spherical moment for position and an image flow measurement for velocity. A fully non-linear adaptive control design is provided that ensures global stability of the closed-loop system.",

author = "Robert Mahony and {Von Brasch}, Arved and Peter Corke and Tarek Hamel",

year = "2005",

doi = "10.1109/CDC.2005.1583016",

language = "English",

isbn = "0780395689",

series = "Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05",

pages = "5372--5378",

booktitle = "Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05",

note = "44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 ; Conference date: 12-12-2005 Through 15-12-2005",

}

Mahony, R, Von Brasch, A, Corke, P & Hamel, T 2005, Adaptive depth estimation in image based visual servo control of dynamic systems. in Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05., 1583016, Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05, vol. 2005, pp. 5372-5378, 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05, Seville, Spain, 12/12/05. https://doi.org/10.1109/CDC.2005.1583016

Adaptive depth estimation in image based visual servo control of dynamic systems. / Mahony, Robert; Von Brasch, Arved; Corke, Peter et al.
Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05. 2005. p. 5372-5378 1583016 (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Von Brasch, Arved

AU - Corke, Peter

AU - Hamel, Tarek

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N2 - This paper considers the question of designing a fully image based visual servo control for a dynamic system. The work is motivated by the ongoing development of image based visual servo control of small aerial robotic vehicles. The observed targets considered are coloured blobs on a flat surface to which the normal direction is known. The theoretical framework is directly applicable to the case of markings on a horizontal floor or landing field. The image features used are a first order spherical moment for position and an image flow measurement for velocity. A fully non-linear adaptive control design is provided that ensures global stability of the closed-loop system.

AB - This paper considers the question of designing a fully image based visual servo control for a dynamic system. The work is motivated by the ongoing development of image based visual servo control of small aerial robotic vehicles. The observed targets considered are coloured blobs on a flat surface to which the normal direction is known. The theoretical framework is directly applicable to the case of markings on a horizontal floor or landing field. The image features used are a first order spherical moment for position and an image flow measurement for velocity. A fully non-linear adaptive control design is provided that ensures global stability of the closed-loop system.

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DO - 10.1109/CDC.2005.1583016

M3 - Conference contribution

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SN - 9780780395688

T3 - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05

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BT - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05

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Mahony R, Von Brasch A, Corke P, Hamel T. Adaptive depth estimation in image based visual servo control of dynamic systems. In Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05. 2005. p. 5372-5378. 1583016. (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05). doi: 10.1109/CDC.2005.1583016

Adaptive depth estimation in image based visual servo control of dynamic systems

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