Full 3D Visual Tracking with Nonlinear Model-Based Control

Hashimoto, Koichi; Ebine, Takumi; Sakamoto, Kenji; Kimura, Hidenori

doi:10.23919/acc.1993.4793495

Cited by 16 publications

(6 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Hashimoto et al proposed an LQ (linear quadratic) optimal controller [58] and non-linear task level inverse dynamics controller [59]. Some comparison of linear and non-linear controllers are given in Ref.…”

Section: Improving Closed-loop Performance For Image-based Visual Sermentioning

confidence: 99%

A review on vision-based control of robot manipulators

2003

Advanced Robotics

View full text Add to dashboard Cite

Recent vision-based control algorithms for robot manipulators are reviewed. Vision is essential for robots working in an unstructured environment. There are numerous research results in vision-based control. Thus, the scope of this review is limited to providing a brief description on visual servo schemes for manipulators. First, a control architecture for vision-based control is reviewed and some basic ideas for visual servo control are presented. On the basis of these ideas recent research results, especially robust and globally stable controllers, are discussed in detail.

show abstract

Section: Improving Closed-loop Performance For Image-based Visual Sermentioning

confidence: 99%

A review on vision-based control of robot manipulators

2003

Advanced Robotics

View full text Add to dashboard Cite

show abstract

“…Allen et al 3 have used two static cameras to follow the motion of a toy train. On the other hand, Papanikolopoulos et al, 4 Espiau et al, 5 and Hashimoto et al 6 have proposed the eye-in-hand working style. Most of the literature concentrates on the target tracking and grasping.…”

Section: žmentioning

confidence: 99%

Curve tracking and reproduction by a robot with a vision system

Jiang¹,

Chen²,

Jiang³

et al. 1999

J. Robotic Syst.

View full text Add to dashboard Cite

Curve tracking and reproduction by a robot with a vision system have broad application in industry. This article describes tracking control using the orthogonal decomposition control method. The data recorded in the tracking procedure are pre-processed by the Kalman filtering algorithm. Thus, tracking and reproduction of any kinds of regular and irregular smooth curves with a high speed and a high accuracy are achieved.

show abstract

“…As a consequence, there is often very strong a priori knowledge of the observed object, in order to validate the control law. Most of these works [1][2][3][4] use a quasi-binary image to easily separate the target from the background.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Stabilization of a Pan and Tilt Camera for Submarine Image Visualization

Crétual¹,

Chaumette²

2000

Computer Vision and Image Understanding

View full text Add to dashboard Cite

One major problem of underwater observation with an automatic engine is the instability of image acquisition and visualization. Indeed, small engines of this kind are subjected to low-frequency motions due to weak friction and water currents. In this paper, we propose to maintain stabilization in the image by controlling the pan and tilt motions of the camera attached to the engine, using techniques for target tracking by visual servoing. The main idea behind approach lies in the fact that, since it is very difficult to track a point in the images of an unknown and complex scene using geometrical tools, the position of a virtual point can be retrieved by the integration of its 2D motion. The motion estimation method we have used, called the RMR algorithm, provides the parameters of a selected motion model (for the task considered here, a constant one) and is perfectly suitable for real-time constraints and the complexity of an undersea image sequence. Our approach has been validated on a dry setup using two different sequences of underwater images.

show abstract

Full 3D Visual Tracking with Nonlinear Model-Based Control

Cited by 16 publications

References 9 publications

A review on vision-based control of robot manipulators

A review on vision-based control of robot manipulators

Curve tracking and reproduction by a robot with a vision system

Dynamic Stabilization of a Pan and Tilt Camera for Submarine Image Visualization

Contact Info

Product

Resources

About