What can Prediction Bring to Image-Based Visual Servoing ? - Archive ouverte HAL
Communication Dans Un Congrès Année : 2009

What can Prediction Bring to Image-Based Visual Servoing ?

Résumé

The purpose of this paper is to show what image prediction can bring to Image-Based Visual Servoing. The visual feature prediction is obtained thanks to the interaction matrix. Based on a Model Predictive Control strategy, the visual servoing task is formulated into an optimization problem. The error between the reference features and the predicted features is to be minimized over a receding prediction horizon. Numerous simulations highlight the interest of prediction, especially for difficult configurations such as large motion and rotation.
Fichier principal
Vignette du fichier
IROS09_VF.pdf (333.48 Ko) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01994125 , version 1 (25-01-2019)

Identifiants

  • HAL Id : hal-01994125 , version 1

Citer

Guillaume Allibert, Estelle Courtial. What can Prediction Bring to Image-Based Visual Servoing ?. IEEE International Conference on Intelligent Robots and Systems, Oct 2009, Saint Louis, United States. ⟨hal-01994125⟩
51 Consultations
93 Téléchargements

Partager

More