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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.
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Dates et versions

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

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  • HAL Id : hal-01994125 , version 1

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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⟩
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