Homography-based Visual Servoing with Remote Center of Motion for Semi-autonomous Robotic Endoscope Manipulation.
Martin HuberJohn Bason MitchellRoss HenrySébastien OurselinTom VercauterenChristos BergelesPublished in: ISMR (2021)
Keyphrases
- camera motion
- visual servoing
- autonomous robotic
- image sequences
- image based visual servoing
- epipolar geometry
- end effector
- structure from motion
- optical flow
- video sequences
- feature points
- semi autonomous
- visual feedback
- moving objects
- fully autonomous
- robotic arm
- parallel robot
- vision system
- robot motion
- control law
- computer vision
- real time
- fundamental matrix
- ground plane
- motion planning
- humanoid robot
- single image
- dynamic programming
- machine learning