The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The robustness of a visual servoing task depends mainly on the efficiency of visual selections captured from a sensor at each robot’s position. A task function could be described as a regulation of the values sent via the control law to the camera velocities. In this paper we propose a new approach that does not depend on matching and tracking results. Thus, we replaced the classical minimization...
This paper proposes a new approach to achieve real-time robotic control using image-based visual servoing in the presence of constraints. The proposed method deals with visibility constraints and occultation avoidance using potential fields. Our approach aims to improve the real-time performance of the visual servoing scheme. In fact, the proposed technique is more efficient in terms of computation...
We are interested in this paper in the 2D visual servoïng for a mobile robot using a Radial Basis Function (RBF) Neural Network (NN). In fact, the interaction matrix, expressing the relationship between the camera motion and the consequent changes on the visual features, contains some parameters to be estimated (depth) and requires a camera's calibration phase. Moreover, the model of the robot can...
This article focuses on an original approach aiming the processing of low-altitude aerial sequences taken from an helicopter (or drone) and presenting a road traffic. Proposed system attempts to extract vehicles from acquired sequences. Our approach begins with detecting the primitives of sequence images. At the time of this step of segmentation, the system computes dominant motion for each pair of...
In this work, we have investigated the processes required for visual extracting and the remote control of KUKA KR-125 industrial robot manipulator. For this purpose, the robot controller communicates with the external system via anEthernet cable IEEE 802.3. The exchanged data are transmitted thanks to TCP/IP Protocol. To do this, we performed a client/server application with all relevant motions control...
This paper proposes a novel method to improve mobile robot robustness with respect to kinematic modeling errors during visual servoing task. Instead of using first-order error-dynamics, as it is usually done, we use the second-order error-dynamics leading to a new control law. The main aim of this approach is to guarantee a robust visual servoing scheme. In fact, the new control law ensures the convergence...
In this paper we present a system that aims at detecting and tracking moving objects from aerial video streams. These sequences are obtained from a camera mounted on an aerial vehicle which flies over roads and highways. In order to compensate the motion introduced by the dynamic behavior of the camera, we have to estimate geometrical transformations which stabilize consecutive frames. Our system...
In this paper we present an overview of recent robust approaches which aim 2D visual servoing systems. Since Visual servoing has been considered as a very effective technique for positioning and tracking functionalities, its main goal was to find good selections of visual data in order to be injected in a closed-loop. To guarantee the visual servoing robustness, it is important to alter many techniques...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.