Towards Practical Uncalibrated Visual Servoing
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Towards Practical Uncalibrated Visual Servoing
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Author : Oscar A. Ramirez
language : en
Publisher:
Release Date : 2016
Towards Practical Uncalibrated Visual Servoing written by Oscar A. Ramirez and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with Computer vision categories.
When controlling dynamic systems such as robots a big challenge lies in defining how the desired actions will be accomplished. In industrial settings automation has been possible due to the structured and predictable environments. The repeatability of the tasks makes it viable to manually automate them. Moving to dynamic and unstructured environments, such as human settings and the outdoors, makes such approaches impractical. Uncalibrated Visual Servoing (UVS) presents a viable approach to facilitate robot control and task definition in unstructured environments. UVS can be applied either in autonomous systems, or as a direct interface for users to manage the robot. Tasks are defined through visual features directly in image space. By estimating the full non-parametric image Jacobian no a-priori models or camera calibration is required. Real-world adoption of UVS has been slow despite over forty years of research. This work presents a minimalistic framework and accompanying software library for UVS. The goal is to enable users to create a variety of visual servoing systems using low complexity control interfaces that easily interact with visual tracking systems to produce a complete environment able to drive robot control. Our library, ROS-UVS, has now been used with several robots for a variety of tasks such as pick and place with a WAM manipulator and quadrotor assisted flight control. Our implementation, developed within the ROS framework, has proven to be flexible, robust and easy to use and integrate across multiple robots and control interfaces. A simulation environment is also available allowing users to try out our system. Finally, through the use of ROS-UVS we explore the performance of UVS both in simulation and with a physical robot. Characterizing the behaviour of UVS will help facilitate adoption for new users and serves to showcase the features and applications of our library.
Visual Servoing
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Author : Koichi Hashimoto
language : en
Publisher: World Scientific
Release Date : 1993
Visual Servoing written by Koichi Hashimoto and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 1993 with Technology & Engineering categories.
This book treats visual feedback control of mechanical systems, mostly robot manipulators. It not only deals with image processing techniques and robot control schemes but also covers the latest investigation of the design of the visual servo mechanism based on modern linear and nonlinear control theory, the adaptive control scheme, fuzzy logic, and neural networks. New concepts for utilizing visual sensory information for real-time manipulator control are derived and the performances are evaluated through simulations and/or experiments.The contributors to this book are robotics specialists from all over the world. The book gives a practical perspective on visual servoing to researchers, engineers, and students working in this area.
Constraint Aware Visual Servoing For Teaching Practical Robot Motion
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Author :
language : en
Publisher:
Release Date : 2004
Constraint Aware Visual Servoing For Teaching Practical Robot Motion written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004 with categories.
In this thesis, a constraint-aware visual servoing control law is proposed. The control law is designed for a robot manipulator with an uncalibrated camera mounted on its end-effector. This control law allows the robot to execute large, collision-free motions with closed-loop positional accuracy. A reference image visually describes the desired end-effector position with respect to a target object whose location is initially unknown. The control law uses this reference image with online feedback from the camera to direct the trajectory of robot towards the completion of the positioning task. The control law generates feasible and realistic robot trajectories that respect the robot's joint position and velocity limits, even in the presence of large control gains. The control law also explicitly keeps the target object within the camera's field of view to provide uninterrupted visual feedback. The control law avoids potential whole-arm collisions with workspace obstacles via planning and control strategies. The visual servoing control law is implemented in a nonlinear model predictive control framework, using an estimated model of the eye-in-hand configuration and an estimated location of the target object. Two methods of approximating the object's location for joint-space path planning are demonstrated in simulations and experiments. The first uses homography estimation and decomposition on an un-modelled object. The second uses an extended Kalman filter with a prior object model to improve robustness against image noise and disturbances. Two planning and control strategies are presented. The first strategy uses an offline plan-then-servo approach that integrates probabilistic roadmaps with visual servoing. A method to construct paths between two robot configurations that keep the target object within the camera's field of view is demonstrated, allowing feasible transitions from planned motion to visual servoing. A method to address pose uncertainty to ensure collisi.
Multi Camera Uncalibrated Visual Servoing
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Author : Matthew Q. Marshall
language : en
Publisher:
Release Date : 2013
Multi Camera Uncalibrated Visual Servoing written by Matthew Q. Marshall and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013 with Control theory categories.
Uncalibrated visual servoing (VS) can improve robot performance without needing camera and robot parameters. Multiple cameras improve uncalibrated VS precision, but no works exist simultaneously using more than two cameras. The first data for uncalibrated VS simultaneously using more than two cameras are presented. VS performance is also compared for two different camera models: a high-cost camera and a low-cost camera, the difference being image noise magnitude and focal length. A Kalman filter based control law for uncalibrated VS is introduced and shown to be stable under the assumptions that robot joint level servo control can reach commanded joint offsets and that the servoing path goes through at least one full column rank robot configuration. Adaptive filtering by a covariance matching technique is applied to achieve automatic camera weighting, prioritizing the best available data. A decentralized sensor fusion architecture is utilized to assure continuous servoing with camera occlusion. The decentralized adaptive Kalman filter (DAKF) control law is compared to a classical method, Gauss-Newton, via simulation and experimentation. Numerical results show that DAKF can improve average tracking error for moving targets and convergence time to static targets. DAKF reduces system sensitivity to noise and poor camera placement, yielding smaller outliers than Gauss-Newton. The DAKF system improves visual servoing performance, simplicity, and reliability.
Adaptive Visual Servoing In Uncalibrated Environments
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Author : Hesheng Wang
language : en
Publisher:
Release Date : 2004
Adaptive Visual Servoing In Uncalibrated Environments written by Hesheng Wang and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004 with Computer vision categories.
Visual Servoing In Robotics
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Author : Jorge Pomares
language : en
Publisher: MDPI
Release Date : 2021-08-31
Visual Servoing In Robotics written by Jorge Pomares and has been published by MDPI this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-08-31 with Technology & Engineering categories.
Visual servoing is a well-known approach to guide robots using visual information. Image processing, robotics, and control theory are combined in order to control the motion of a robot depending on the visual information extracted from the images captured by one or several cameras. With respect to vision issues, a number of issues are currently being addressed by ongoing research, such as the use of different types of image features (or different types of cameras such as RGBD cameras), image processing at high velocity, and convergence properties. As shown in this book, the use of new control schemes allows the system to behave more robustly, efficiently, or compliantly, with fewer delays. Related issues such as optimal and robust approaches, direct control, path tracking, or sensor fusion are also addressed. Additionally, we can currently find visual servoing systems being applied in a number of different domains. This book considers various aspects of visual servoing systems, such as the design of new strategies for their application to parallel robots, mobile manipulators, teleoperation, and the application of this type of control system in new areas.
Uncalibrated Robotic Visual Servo Tracking For Large Residual Problems
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Author : Jomkwun Munnae
language : en
Publisher:
Release Date : 2010
Uncalibrated Robotic Visual Servo Tracking For Large Residual Problems written by Jomkwun Munnae and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010 with Approximation algorithms categories.
In visually guided control of a robot, a large residual problem occurs when the robot configuration is not in the neighborhood of the target acquisition configuration. Most existing uncalibrated visual servoing algorithms use quasi-Gauss-Newton methods which are effective for small residual problems. The solution used in this study switches between a full quasi-Newton method for large residual case and the quasi-Gauss-Newton methods for the small case. Visual servoing to handle large residual problems for tracking a moving target has not previously appeared in the literature.
Visual Servoing Via Advanced Numerical Methods
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Author : Graziano Chesi
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-03-15
Visual Servoing Via Advanced Numerical Methods written by Graziano Chesi and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-03-15 with Technology & Engineering categories.
Robots able to imitate human beings have been at the core of stories of science?ctionaswellasdreamsofinventorsforalongtime.Amongthe various skills that Mother Nature has provided us with and that often go forgotten, the ability of sight is certainly one of the most important. Perhaps inspired by tales of Isaac Asimov, comics and cartoons, and surely helped by the progress of electronics in recent decades, researchers have progressively made the dream of creating robots able to move and operate by exploiting arti?cial vision a concrete reality. Technically speaking, we would say that these robots position themselves and their end-e?ectors by using the view provided by some arti?cial eyes as feedback information. Indeed, the arti?cial eyes are visual sensors such as cameras that have the function to acquire an image of the environment. Such an image describes if and how the robot is moving toward the goal and hence constitutes feedback information. This procedure is known in robotics with the term visual servoing, and it is nothing else than an imitation of the intrinsic mechanism that allows human beings to realize daily tasks such as reaching the door of the house or grasping a cup of co?ee.
Multiple Camera Uncalibrated Visual Servo
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Author : Jason E. Stavnitzky
language : en
Publisher:
Release Date : 1999
Multiple Camera Uncalibrated Visual Servo written by Jason E. Stavnitzky and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1999 with Computer vision categories.
An Uncalibrated Stereo Visual Servo System
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Author : Alistair Conkie
language : en
Publisher:
Release Date : 1990
An Uncalibrated Stereo Visual Servo System written by Alistair Conkie and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1990 with Binocular vision categories.
Abstract: "We describe a robotic system composed of a manipulator and two cameras. We use the vision system to guide the robot hand to a visible target. The camera positions are known only approximately. Our system does not use the details of the kinematics of the manipulator. There is no common frame of reference linking vision system, workspace and robot hand. The stereo vision system gives information in terms of picture coordinates. This information is used to control a three degree of freedom robot hand. We carried out real-world experiments to test out this idea."