Naslov
A new method for uncalibrated visual servoing

Autori
Bonković, Mirjana ; Hace, Aleš ; Jezernik, Karel

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proc. of 9th IEEE International Workshop on Advanced Motion Control / - Istanbul, 2006, 624-629

ISBN
0-7803-9511-1

Skup
IEEE International Workshop on Advanced Motion Control

Mjesto i datum
Istanbul, Turska, 27.03.2006. - 29.03.2006

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
visual servoing; uncalibrated control; nonlinear optimisation

Sažetak
The paper introduces a novel method for visual servoing based on the generalization of quasi-Newton methods for nonlinear optimization. The method calibrates a linear model based on several previous iterates. The difference with existing approaches is that we do not impose the linear model to interpolate the function. Instead, we prefer to identify the linear model which is as close as possible to the nonlinear function, in the least squares sense. The new system has shown to be less sensitive to noise and exhibits a faster convergence than conventional quasi-Newton methods. The theoretical results are verified experimentally.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo

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