Robust Image-Based Visual Servoing with Prescribed Performance under Field of View Constraints

Charalampos P. Bechlioulis; Shahab Heshmati-Alamdari; George C. Karras; Kostas J. Kyriakopoulos

doi:10.1109/TRO.2019.2914333

Robust Image-Based Visual Servoing with Prescribed Performance under Field of View Constraints

Charalampos P. Bechlioulis, Shahab Heshmati-Alamdari, George C. Karras, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

In this paper, we propose a visual servoing scheme that imposes predefined performance specifications on the image feature coordinate errors and satisfies the visibility constraints that inherently arise owing to the camera's limited field of view, despite the inevitable calibration and depth measurement errors. Its efficiency is demonstrated via comparative experimental and simulation studies.

Original language	English (US)
Article number	8720242
Pages (from-to)	1063-1070
Number of pages	8
Journal	IEEE Transactions on Robotics
Volume	35
Issue number	4
DOIs	https://doi.org/10.1109/TRO.2019.2914333
State	Published - Aug 2019

Keywords

Field of view constraints
robustness
visual servoing

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TRO.2019.2914333

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abstract = "In this paper, we propose a visual servoing scheme that imposes predefined performance specifications on the image feature coordinate errors and satisfies the visibility constraints that inherently arise owing to the camera's limited field of view, despite the inevitable calibration and depth measurement errors. Its efficiency is demonstrated via comparative experimental and simulation studies.",

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author = "Bechlioulis, {Charalampos P.} and Shahab Heshmati-Alamdari and Karras, {George C.} and Kyriakopoulos, {Kostas J.}",

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AU - Kyriakopoulos, Kostas J.

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Robust Image-Based Visual Servoing with Prescribed Performance under Field of View Constraints

Abstract

Keywords

ASJC Scopus subject areas

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