TY - JOUR
T1 - Robust Image-Based Visual Servoing With Prescribed Performance Under Field of View Constraints
AU - Bechlioulis, Charalampos P.
AU - Heshmati-alamdari, Shahab
AU - Karras, George C.
AU - Kyriakopoulos, Kostas J.
PY - 2019/8
Y1 - 2019/8
N2 - In this paper, we propose a visual servoing scheme that imposes predefined performance specifications on the image feature coordinate errors and satisfies the visibility constraints that inherently arise owing to the camera's limited field of view, despite the inevitable calibration and depth measurement errors. Its efficiency is demonstrated via comparative experimental and simulation studies.
AB - In this paper, we propose a visual servoing scheme that imposes predefined performance specifications on the image feature coordinate errors and satisfies the visibility constraints that inherently arise owing to the camera's limited field of view, despite the inevitable calibration and depth measurement errors. Its efficiency is demonstrated via comparative experimental and simulation studies.
UR - https://doi.org/10.1109/TRO.2019.2914333
U2 - 10.1109/TRO.2019.2914333
DO - 10.1109/TRO.2019.2914333
M3 - Journal article
SN - 1552-3098
VL - 35
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
IS - 4
ER -