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12

ICARCV
2006
IEEE

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Probabilistic Integration of 2D and 3D Cues for Visual Servoing

13 years 11 months ago

Probabilistic Integration of 2D and 3D Cues for Visual Servoing

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— In this paper we present a new integration method for improving the performance of visual servoing. The method integrates image-based visual servoing (IBVS) and positionbased visual servoing (PBVS) approaches to satisfy the widely varying requirements of the visual servoing process. We deﬁne an integration rule for IBVS and PBVS controllers. Density functions that determine the weighting factor of each controller are deﬁned to satisfy the above constraints. We prove that this integration method provides global stability, and avoids local minima. The new integration method is validated on positioning tasks and compared with other switching methods.

A. H. Abdul Hafez, C. V. Jawahar

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ICARCV 2006 | Image-based Visual Servoing | Visual Servoing | Visual Servoing Process |

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Added	11 Jun 2010
Updated	11 Jun 2010
Type	Conference
Year	2006
Where	ICARCV
Authors	A. H. Abdul Hafez, C. V. Jawahar

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