Adaptive depth estimation in image based visual servo control of dynamic systems
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Altmetric Citations
Mahony, Robert; von Brasch, Arved; Corke, Peter Ian; Hamel, Tarek
Description
This paper considers the question of designing a fully image based visual servo control for a dynamic system. The work is motivated by the ongoing development of image based visual servo control of small aerial robotic vehicles. The observed targets considered are coloured blobs on a flat surface to which the normal direction is known. The theoretical framework is directly applicable to the case of markings on a horizontal floor or landing field. The image features used are a first order...[Show more]
dc.contributor.author | Mahony, Robert | |
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dc.contributor.author | von Brasch, Arved | |
dc.contributor.author | Corke, Peter Ian | |
dc.contributor.author | Hamel, Tarek | |
dc.coverage.spatial | Seville Spain | |
dc.date.accessioned | 2015-12-13T22:43:29Z | |
dc.date.created | December 12-15 2005 | |
dc.identifier.isbn | 0780395689 | |
dc.identifier.uri | http://hdl.handle.net/1885/79228 | |
dc.description.abstract | This paper considers the question of designing a fully image based visual servo control for a dynamic system. The work is motivated by the ongoing development of image based visual servo control of small aerial robotic vehicles. The observed targets considered are coloured blobs on a flat surface to which the normal direction is known. The theoretical framework is directly applicable to the case of markings on a horizontal floor or landing field. The image features used are a first order spherical moment for position and an image flow measurement for velocity. A fully non-linear adaptive control design is provided that ensures global stability of the closed-loop system. | |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE Inc) | |
dc.relation.ispartofseries | IEEE Conference on Decision and Control, and the European Control Conference 2005 | |
dc.source | Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference 2005 | |
dc.source.uri | http://www.esi2.us.es/~cdcecc05/ | |
dc.subject | Keywords: Adaptive control systems; Closed loop control systems; Feature extraction; Image analysis; Robot applications; Velocity measurement; Adaptive depth estimation; Aerial robotic vehicles; Servo control of dynamic systems; Visual servo control; Control system | |
dc.title | Adaptive depth estimation in image based visual servo control of dynamic systems | |
dc.type | Conference paper | |
local.description.notes | Imported from ARIES | |
local.description.refereed | Yes | |
dc.date.issued | 2005 | |
local.identifier.absfor | 080101 - Adaptive Agents and Intelligent Robotics | |
local.identifier.absfor | 080104 - Computer Vision | |
local.identifier.absfor | 010203 - Calculus of Variations, Systems Theory and Control Theory | |
local.identifier.ariespublication | MigratedxPub7716 | |
local.type.status | Published Version | |
local.contributor.affiliation | Mahony, Robert, College of Engineering and Computer Science, ANU | |
local.contributor.affiliation | von Brasch, Arved, College of Engineering and Computer Science, ANU | |
local.contributor.affiliation | Corke, Peter Ian, CSIRO Division of ICT Centre | |
local.contributor.affiliation | Hamel, Tarek, Nice Sophia Antipolis University | |
local.description.embargo | 2037-12-31 | |
local.bibliographicCitation.startpage | 5372 | |
local.bibliographicCitation.lastpage | 5378 | |
local.identifier.doi | 10.1109/CDC.2005.1583016 | |
dc.date.updated | 2015-12-11T10:12:51Z | |
local.identifier.scopusID | 2-s2.0-33847201846 | |
Collections | ANU Research Publications |
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