3D image-based dynamic visual servoing with uncalibrated stereo cameras

• Published in: IEEE ISR 2013 pp. 1 - 6
• Main Authors: Caixia Cai, Dean-Leon, Emmanuel, Somani, Nikhil, Knoll, Alois
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.10.2013
• Subjects: 3D Image-based Visual Servoing; Adaptive Dynamic Control; Cameras; Jacobian matrices; Robot kinematics; Robot vision systems; Three-dimensional displays; Uncalibarated Stereo Cameras; Visualization

This paper introduces a new comprehensive solution for the open problem of uncalibrated 3D image-based stereo visual servoing for robot manipulators. One of the main contributions of this article is a novel 3D stereo camera model to map positions in the task space to positions in a new 3D Visual Car...