Feed forward visual servoing for object exploration

R.S. Pieters; A. Alvarez Aguirre; P.P. Jonker; H. Nijmeijer

doi:10.1109/IROS.2012.6385613

Feed forward visual servoing for object exploration

R.S. Pieters, A. Alvarez Aguirre, P.P. Jonker, H. Nijmeijer

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

3 Citations (Scopus)

Abstract

A new visual servoing method is proposed which uses position based visual servoing (PBVS) in combination with an additional image based control layer on the target pose to maintain fixation on an object. The proposed method (denoted feed forward PBVS) does not require trajectory generation but instead uses via-points to explore the object. It exploits the advantages of PBVS without the disadvantages of image based visual servoing (IBVS) as occurs in hybrid approaches. The proposed method is experimentally validated with a redundant 7-DOF manipulator. Comparison with existing visual servoing methods (PBVS and one partitioned approach) shows the effectiveness of the method.

Original language	English
Title of host publication	Proceedings of the IEEE/RSJ International Conference on Intelligence Robots and Systems (IROS), 7-12 October 2012, Vilamoura, Portugal
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	1702-1707
ISBN (Print)	978-1-4673-1737-5
DOIs	https://doi.org/10.1109/IROS.2012.6385613
Publication status	Published - 2012

Access to Document

10.1109/IROS.2012.6385613

Cite this

Pieters, R. S., Alvarez Aguirre, A., Jonker, P. P., & Nijmeijer, H. (2012). Feed forward visual servoing for object exploration. In Proceedings of the IEEE/RSJ International Conference on Intelligence Robots and Systems (IROS), 7-12 October 2012, Vilamoura, Portugal (pp. 1702-1707). Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/IROS.2012.6385613

@inproceedings{e99977f1e2ce4c7cab2cddf14acb3fef,

title = "Feed forward visual servoing for object exploration",

abstract = "A new visual servoing method is proposed which uses position based visual servoing (PBVS) in combination with an additional image based control layer on the target pose to maintain fixation on an object. The proposed method (denoted feed forward PBVS) does not require trajectory generation but instead uses via-points to explore the object. It exploits the advantages of PBVS without the disadvantages of image based visual servoing (IBVS) as occurs in hybrid approaches. The proposed method is experimentally validated with a redundant 7-DOF manipulator. Comparison with existing visual servoing methods (PBVS and one partitioned approach) shows the effectiveness of the method.",

author = "R.S. Pieters and {Alvarez Aguirre}, A. and P.P. Jonker and H. Nijmeijer",

year = "2012",

doi = "10.1109/IROS.2012.6385613",

language = "English",

isbn = "978-1-4673-1737-5",

pages = "1702--1707",

booktitle = "Proceedings of the IEEE/RSJ International Conference on Intelligence Robots and Systems (IROS), 7-12 October 2012, Vilamoura, Portugal",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

}

Pieters, RS, Alvarez Aguirre, A, Jonker, PP & Nijmeijer, H 2012, Feed forward visual servoing for object exploration. in Proceedings of the IEEE/RSJ International Conference on Intelligence Robots and Systems (IROS), 7-12 October 2012, Vilamoura, Portugal. Institute of Electrical and Electronics Engineers, Piscataway, pp. 1702-1707. https://doi.org/10.1109/IROS.2012.6385613

Feed forward visual servoing for object exploration. / Pieters, R.S.; Alvarez Aguirre, A.; Jonker, P.P. et al.
Proceedings of the IEEE/RSJ International Conference on Intelligence Robots and Systems (IROS), 7-12 October 2012, Vilamoura, Portugal. Piscataway: Institute of Electrical and Electronics Engineers, 2012. p. 1702-1707.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Feed forward visual servoing for object exploration

AU - Pieters, R.S.

AU - Alvarez Aguirre, A.

AU - Jonker, P.P.

AU - Nijmeijer, H.

PY - 2012

Y1 - 2012

N2 - A new visual servoing method is proposed which uses position based visual servoing (PBVS) in combination with an additional image based control layer on the target pose to maintain fixation on an object. The proposed method (denoted feed forward PBVS) does not require trajectory generation but instead uses via-points to explore the object. It exploits the advantages of PBVS without the disadvantages of image based visual servoing (IBVS) as occurs in hybrid approaches. The proposed method is experimentally validated with a redundant 7-DOF manipulator. Comparison with existing visual servoing methods (PBVS and one partitioned approach) shows the effectiveness of the method.

AB - A new visual servoing method is proposed which uses position based visual servoing (PBVS) in combination with an additional image based control layer on the target pose to maintain fixation on an object. The proposed method (denoted feed forward PBVS) does not require trajectory generation but instead uses via-points to explore the object. It exploits the advantages of PBVS without the disadvantages of image based visual servoing (IBVS) as occurs in hybrid approaches. The proposed method is experimentally validated with a redundant 7-DOF manipulator. Comparison with existing visual servoing methods (PBVS and one partitioned approach) shows the effectiveness of the method.

U2 - 10.1109/IROS.2012.6385613

DO - 10.1109/IROS.2012.6385613

M3 - Conference contribution

SN - 978-1-4673-1737-5

SP - 1702

EP - 1707

BT - Proceedings of the IEEE/RSJ International Conference on Intelligence Robots and Systems (IROS), 7-12 October 2012, Vilamoura, Portugal

PB - Institute of Electrical and Electronics Engineers

CY - Piscataway

ER -

Feed forward visual servoing for object exploration

Abstract

Access to Document

Fingerprint

Cite this