Homography-Based Visual Servo Control With Imperfect Camera Calibration
Abbreviated Journal Title
IEEE Trans. Autom. Control
Lyapunov methods; quaternion representation; robust adaptive control; uncertain systems; visual servo control; UNCALIBRATED CAMERA; ROBOTS; Automation & Control Systems; Engineering, Electrical & Electronic
In this technical note, a robust adaptive uncalibrated visual servo controller is proposed to asymptotically regulate a robot end-effector to a desired pose. A homography-based visual servo control approach is used to address the six degrees-of-freedom regulation problem. A high-gain robust controller is developed to asymptotically stabilize the rotation error, and an adaptive controller is developed to stabilize the translation error while compensating for the unknown depth information and intrinsic camera calibration parameters. A Lyapunov-based analysis is used to examine the stability of the developed controller.
Ieee Transactions on Automatic Control
"Homography-Based Visual Servo Control With Imperfect Camera Calibration" (2009). Faculty Bibliography 2000s. 1646.