Robustness of image-based visual servoing with respect to depth distribution errors - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2003

Robustness of image-based visual servoing with respect to depth distribution errors

Résumé

This paper concerns the stability analysis of image-based visual servoing with respect to uncertainties on the depths of the observed object. In the recent past, research on image-based visual servoing has been concentrated on potential problems of stability and on robustness with respect to camera calibration errors. Only little attention, if any, has been devoted to the robustness of image-based visual servoing to depth estimation errors. It is generally believed that a rough approximation of the depth distribution is sufficient to ensure the stability of the control law. In this paper, we prove that the robustness domain is not so wide and that an extern care must be taken when approximating the depth distribution.
Fichier principal
Vignette du fichier
2003-ICRA-Malis_Rives-Robustness_image_based_visual_servoing.pdf (224.38 Ko) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-04647494 , version 1 (14-07-2024)

Identifiants

Citer

Ezio Malis, P. Rives. Robustness of image-based visual servoing with respect to depth distribution errors. IEEE International Conference on Robotics and Automation. IEEE ICRA 2003, Sep 2003, Taipei, Taiwan. pp.1056-1061, ⟨10.1109/ROBOT.2003.1241732⟩. ⟨hal-04647494⟩

Collections

INRIA INRIA2
0 Consultations
0 Téléchargements

Altmetric

Partager

Gmail Mastodon Facebook X LinkedIn More