Abstract
This paper is concerned with choosing image features for image based visual servo control and how this choice influences the closed-loop dynamics of the system. In prior work, image features tend to be chosen on the basis of image processing simplicity and noise sensitivity. In this paper we show that the choice of feature directly influences the closed-loop dynamics in task-space. We focus on the depth axis control of a visual servo system and compare analytically various approaches that have been reported recently in the literature. The theoretical predictions are verified by experiment.
| Original language | English |
|---|---|
| Pages | 390-395 |
| Number of pages | 6 |
| Publication status | Published - 2002 |
| Event | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland Duration: 30 Sept 2002 → 4 Oct 2002 |
Conference
| Conference | 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems |
|---|---|
| Country/Territory | Switzerland |
| City | Lausanne |
| Period | 30/09/02 → 4/10/02 |