scholarly journals Image moments: generic descriptors for decoupled image-based visual servo

2004 ◽  
Author(s):  
O. Tahri ◽  
F. Chaumette
Keyword(s):  
Visual Servo ◽  
Image Moments

Exploiting Image Moments for Aerial Manipulation Control

2013 ◽  
Author(s):  
Rafik Mebarki ◽  
Vincenzo Lippiello ◽  
Bruno Siciliano
Keyword(s):  
Real Time ◽  
Computer Simulations ◽  
Visual Target ◽  
Servo Control ◽  
Visual Servo ◽  
3D Interaction ◽  
Visual Servo Control ◽  
Image Moments ◽  
Control Scheme ◽  
Rotary Wing

This paper proposes a new visual servo control scheme that endows flying manipulators with the capability of positioning with respect to visual targets. A camera attached to the UAV provides real-time images of the scene. We consider the approaching part of an aerial assembling task, where the manipulator carries a structure to be plugged into the visual target. In order to augment the system capabilities regarding the 3D interaction with the target, we propose to use image moments. The developed controller generates desired velocities to both the UAV and the manipulator, simultaneously. While taking into account the under-actuation specific to rotary-wing vehicles, it makes use of the system redundancy to realize potential sub-tasks. The joints limits avoidance is also guaranteed. The presented developments are validated by means of computer simulations.

Navigation Function Based Visual Servo Control

2004 ◽  
Author(s):  
J. Chen ◽  
D. M. Dason ◽  
W. E. Dixon ◽  
V. K. Chitrakaran
Keyword(s):  
Servo Control ◽  
Visual Servo ◽  
Visual Servo Control ◽  
Navigation Function

Development of a dual-stage and visual-servo filming robot

2021 ◽  
pp. 095965182199136
Author(s):  
Liang-Chien Liu ◽  
Ping-Han Yang ◽  
Shih-Chi Liao ◽  
Bing-Peng Li ◽  
Fu-Cheng Wang ◽  
...  
Keyword(s):  
Fast Response ◽  
Tracking Performance ◽  
Visual Servo ◽  
Response Characteristics ◽  
Lower Stage ◽  
Upper Stage ◽  
Dual Stage ◽  
Switching Controller ◽  
Similar Evaluation ◽  
Better Than

This article presents the development of a visual-servo filming robot for dolly & truck style camera movement in filming applications. The robot was implemented with a fast-response slider as the upper stage on top of the slow-response tracked robot body as the lower stage, to improve target tracking performance. A new switching controller was developed, which controlled the stages’ motions by balancing and adjusting the weights of vision error and slider’s noncentering error of the upper stage, thus achieving tracking performance better than the traditional master–slave control strategy. The simulations were carried out to evaluate the tracking performance of the model, particularly focusing on evaluating how the dual stage improves the overall response of the model. The similar evaluation was executed experimentally as well. Both results confirm that the fast-response characteristics of the upper stage can compensate the slow dynamics of lower stage, the tracked robot which is inevitably heavy due to its composition.

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