Dynamic estimation of homography transformations on the special linear group for visual servo control
dc.contributor.author | Malis, Ezio | |
dc.contributor.author | Hamel, Tarek | |
dc.contributor.author | Mahony, Robert | |
dc.contributor.author | Morin, Pascal | |
dc.coverage.spatial | Kobe Japan | |
dc.date.accessioned | 2015-12-07T22:42:58Z | |
dc.date.created | May 12-17 2009 | |
dc.date.issued | 2009 | |
dc.date.updated | 2016-02-24T11:20:39Z | |
dc.description.abstract | In the last decade, many vision-based robot controllers have been designed using Cartesian information encoded in the homography transformation that links two images of a planar object. For any approach, the performance of the closed-loop system depends on the quality of the homography estimates obtained. In this paper, we exploit the special linear Lie-group structure of the set of all homographies to develop a dynamic observer to estimate homographies online. The resulting estimates are effective and can be used to improve closed-loop response of several visual servoing algorithms. | |
dc.identifier.isbn | 9781424427895 | |
dc.identifier.uri | http://hdl.handle.net/1885/24790 | |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE Inc) | |
dc.relation.ispartofseries | IEEE International Conference on Robotics and Automation (ICRA 2009) | |
dc.source | Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2009) | |
dc.subject | Keywords: Cartesians; Closed-loop response; Dynamic estimation; Dynamic observers; Group structure; Homographies; Homography transformation; Special linear group; Vision-based robot controller; Visual servo control; Observability; Robotics; Robots; Visual servoing | |
dc.title | Dynamic estimation of homography transformations on the special linear group for visual servo control | |
dc.type | Conference paper | |
local.bibliographicCitation.lastpage | 1503 | |
local.bibliographicCitation.startpage | 1498 | |
local.contributor.affiliation | Malis, Ezio, INRIA-Sophia | |
local.contributor.affiliation | Hamel, Tarek, Nice Sophia Antipolis University | |
local.contributor.affiliation | Mahony, Robert, College of Engineering and Computer Science, ANU | |
local.contributor.affiliation | Morin, Pascal, INRIA-Sophia | |
local.contributor.authoremail | u4033888@anu.edu.au | |
local.contributor.authoruid | Mahony, Robert, u4033888 | |
local.description.embargo | 2037-12-31 | |
local.description.notes | Imported from ARIES | |
local.description.refereed | Yes | |
local.identifier.absfor | 090699 - Electrical and Electronic Engineering not elsewhere classified | |
local.identifier.ariespublication | u4708487xPUB34 | |
local.identifier.doi | 10.1109/ROBOT.2009.5152384 | |
local.identifier.scopusID | 2-s2.0-70350365245 | |
local.identifier.uidSubmittedBy | u4708487 | |
local.type.status | Published Version |
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