Visual servoing of an under-actuated dynamic rigid-body system: an image-based approach

By Tarek Hamel, Robert E. Mahony. IEEE Trans. Robotics Autom., 2002

325 citations recorded by the source corpus.

Subfields: Computer Vision and Pattern Recognition, Media Technology

View Paper: https://www.semanticscholar.org/paper/9d928686731e40b0d5c12505e7615d0c0d28c3fc

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In Computer Vision and Pattern Recognition

In Media Technology

Citations in the corpus

Vision-based control of a quadrotor for perching on lines (2014, methodology): “Although their approach does not require an accurate depth estimate it necessitates an estimate of the absolute translational velocity which the authors obtain by fusing IMU and visual measurements.”
Photometric visual servoing for omnidirectional cameras (2013, unknown): “The interaction matrix L X S has been deﬁned by Hamel and Mahony (2002), in a different purpose:”
A survey of quadrotor Unmanned Aerial Vehicles (2012, background): “In IBVS the control law is based on the error between current and desired features on the image plane, and does not involve any estimate of the position of the target [11, 20, 33, 69].”
Point-based and region-based image moments for visual servoing of planar objects (2005, unknown): “Index Terms —Visual servoing, image moment, invariant.”
Landing a VTOL Unmanned Aerial Vehicle on a Moving Platform Using Optical Flow (2012, methodology): “The kinematics of an image point for a spherical camera of image surface radius unity are [8], [22]”
Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor (2012, background): “The second approach is direct sensor-based control [26], the most commonly referred to case, being that of image-based visual servo control [27]–[29].”
Advanced closed loop visual navigation for micro aerial vehicles (2014, methodology): “The problem of arbitrary absolute scale affects all monocular setups – from SLAM systems like (Davison et al., 2007) to pose estimation in n-point algorithms (Nistér, 2004), or optical flow based approaches (Hamel and Mahony, 2002).”
A Practical Visual Servo Control for an Unmanned Aerial Vehicle (2008, background): “The closed-loop visual servo control is shown to be locally exponentially stable and experimental results demonstrate the performances and robustness of the proposed control.”