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Dynamic Image-Based Visual Servo Control Using Centroid and Optic Flow Features

Mahony, Robert; Corke, Peter Ian; Hamel, Tarek


This paper considers the question of designing a fully image-based visual servo control for a class of dynamic systems. The work is motivated by the ongoing development of image-based visual servo control of small aerial robotic vehicles. The kinematics and dynamics of a rigid-body dynamical system (such as a vehicle airframe) maneuvering over a flat target plane with observable features are expressed in terms of an unnormalized spherical centroid and an optic flow measurement. The image-plane...[Show more]

CollectionsANU Research Publications
Date published: 2008
Type: Journal article
Source: Journal of Dynamical Systems, Measurement and Control
DOI: 10.1115/1.2807085


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