On the stability of visual servoing using a 3D-camera

Boris Lohmann, Thorsten Lietmann

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

Besides conventional 2D image information, a special laser-based camera delivers depth information related to each image dot, i.e. a full 3D image. Such camera systems suggest themselves for increasing autonomy of robots and vehicles. If instead of distances/angles between camera and objects some image coordinates of features are used as control output variables the resulting control scheme is referred to as Image-Based Visual Servoing (IBVS). After a short introduction into the principles of IBVS, a general parametric control scheme (based on the image-jacobian-matrix) is given and its stability properties are discussed, both, for a general camera configuration and for the particular case of the 3D-camera. It turns out that in this particular case stability can be proved by investigating the semi-definiteness of the derivative V of some Lyapunov function V which is the main result of this paper.

Original languageEnglish
Title of host publication2001 European Control Conference, ECC 2001
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1140-1144
Number of pages5
ISBN (Electronic)9783952417362
DOIs
StatePublished - 2001
Externally publishedYes
Event6th European Control Conference, ECC 2001 - Porto, Portugal
Duration: 4 Sep 20017 Sep 2001

Publication series

Name2001 European Control Conference, ECC 2001

Conference

Conference6th European Control Conference, ECC 2001
Country/TerritoryPortugal
CityPorto
Period4/09/017/09/01

Keywords

  • Autonomous Robots
  • Image-Jacobian-Matrix
  • Laser-Based 3D-Camera
  • Lyapunov Stability Theory
  • Visual Servoing

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