6D image-based visual servoing for robot manipulators with uncalibrated stereo cameras.
Caixia CaiEmmanuel C. Dean-LeonNikhil SomaniAlois C. KnollPublished in: IROS (2014)
Keyphrases
- stereo camera
- robot manipulators
- image based visual servoing
- visual servoing
- vision system
- control scheme
- stereo vision
- depth information
- image sequences
- stereo images
- dynamic model
- control law
- point cloud
- computer vision
- real time
- gesture recognition
- camera motion
- pid controller
- state space
- stereo pair
- closed loop
- image pairs
- structure from motion
- depth map
- image registration
- fuzzy control
- position and orientation
- optical flow
- high quality
- three dimensional