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Visual Servoing via Advanced Numerical Methods

  • Book
  • © 2010

Overview

Editors:
  1. Graziano Chesi

    1. Department of Electrical and Electronic Engineering, University of Hong Kong, Hong Kong, China, People’s Republic

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  2. Koichi Hashimoto

    1. Dept. System Information Sciences, Tohoku University, Sendai, Aoba-ku, Japan

    View editor publications

    You can also search for this editor in PubMed   Google Scholar

  • Provides readers with extensive research in important method of robotic sensing and control
  • Results reported in the text are supported by video and other on-line material
  • Takes account of the most recent developments in video and computer technology
  • Facilitates the construction of robots which interact with the environment in more human-like ways – reducing the need for specially designed environments

Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 401)

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Table of contents (20 chapters)

  1. Front Matter

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  2. Vision

    1. Front Matter

      Pages 1-1
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    2. Catadioptric Stereo with Planar Mirrors: Multiple-view Geometry and Camera Localization

      • Gian Luca Mariottini, Stefano Scheggi, Fabio Morbidi, Domenico Prattichizzo
      Pages 3-21

    3. Empirical Characterization of Convergence Properties for Kernel-based Visual Servoing

      • John P. Swensen, Vinutha Kallem, Noah J. Cowan
      Pages 23-38

    4. High-speed Visual Feedback Control for Grasping and Manipulation

      • Akio Namiki, Taku Senoo, Satoru Mizusawa, Masatoshi Ishikawa
      Pages 39-53

    5. Human-machine Cooperative Manipulation with Vision-based Motion Constraints

      • Gregory D. Hager
      Pages 55-70

    6. Luminance: A New Visual Feature for Visual Servoing

      • Christophe Collewet, Eric Marchand
      Pages 71-90

    7. Visual Servoing for Beating Heart Surgery

      • Wael Bachta, Pierre Renaud, Ezio Malis, Koichi Hashimoto, Jacques Gangloff
      Pages 91-114

  3. Estimation and Path-Planning

    1. Front Matter

      Pages 115-115
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    2. A Variational Approach to Trajectory Planning in Visual Servoing

      • Youcef Mezouar
      Pages 117-132

    3. Estimation of Homography Dynamics on the Special Linear Group

      • Ezio Malis, Tarek Hamel, Robert Mahony, Pascal Morin
      Pages 133-150

    4. Image Measurement Errors in Visual Servoing: Estimating the Induced Positioning Error

      • Graziano Chesi, Yeung Sam Hung, Ho Lam Yung
      Pages 151-167

    5. Multicriteria Analysis of Visual Servos through Rational Systems, Biquadratic Lyapunov Functions, and LMIs

      • Patrick Danès, Daniel F. Coutinho, Sylvain Durola
      Pages 169-188

    6. Path-Planning for Visual Servoing: A Review and Issues

      • Moslem Kazemi, Kamal Gupta, Mehran Mehrandezh
      Pages 189-207

    7. Single Camera Structure and Motion Estimation

      • Ashwin P. Dani, Warren E. Dixon
      Pages 209-229

    8. Visual Servoing and Pose Estimation with Cameras Obeying the Unified Model

      • Omar Tahri, Youcef Mezouar, François Chaumette, Helder Araujo
      Pages 231-250

  4. Control

    1. Front Matter

      Pages 251-251
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    2. Gradient Projection Methods for Constrained Image-based Visual Servo

      • Wenzhuo Ma, Seth Hutchinson
      Pages 253-274

    3. Image-based Visual Servo Control Design with Multi-Constraint Satisfaction

      • Sophie Tarbouriech, Philippe Souères
      Pages 275-294

    4. Points-based Visual Servoing with Central Cameras

      • Hicham Hadj-Abdelkader, Youcef Mezouar, Philippe Martinet
      Pages 295-313
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Keywords

About this book

Robots able to imitate human beings have been at the core of stories of science?ctionaswellasdreamsofinventorsforalongtime.Amongthe various skills that Mother Nature has provided us with and that often go forgotten, the ability of sight is certainly one of the most important. Perhaps inspired by tales of Isaac Asimov, comics and cartoons, and surely helped by the progress of electronics in recent decades, researchers have progressively made the dream of creating robots able to move and operate by exploiting arti?cial vision a concrete reality. Technically speaking, we would say that these robots position themselves and their end-e?ectors by using the view provided by some arti?cial eyes as feedback information. Indeed, the arti?cial eyes are visual sensors such as cameras that have the function to acquire an image of the environment. Such an image describes if and how the robot is moving toward the goal and hence constitutes feedback information. This procedure is known in robotics with the term visual servoing, and it is nothing else than an imitation of the intrinsic mechanism that allows human beings to realize daily tasks such as reaching the door of the house or grasping a cup of co?ee.

Editors and Affiliations

  • Department of Electrical and Electronic Engineering, University of Hong Kong, Hong Kong, China, People’s Republic

    Graziano Chesi

  • Dept. System Information Sciences, Tohoku University, Sendai, Aoba-ku, Japan

    Koichi Hashimoto

About the editors

Graziano Chesi received the Laurea in Information Engineering from the University of Florence (1997) and the Ph.D. in Systems Engineering from the University of Bologna (2001). He was with the Department of Information Engineering of the University of Siena (2000-2006) and then joined the Department of Electrical and Electronic Engineering of the University of Hong Kong (2006-present). He was a visiting scientist at the Department of Engineering of the University of Cambridge (1999-2000) and at the Department of Information Physics and Computing of the University of Tokyo (2001-2004). Dr. Chesi was the recipient of the Best Student Award of the Faculty of Engineering of the University of Florence (1997). He was Associate Editor of the IEEE Transactions on Automatic Control (2005-2009) and Guest Editor of the Special Issue on Positive Polynomials in Control of the IEEE Transactions on Automatic Control (2009). Since 2007 he is Associate Editor of Automatica. He is the Founder and Chair of the Technical Committee on Systems with Uncertainty of the IEEE Control Systems Society. He is author of the book "Homogeneous Polynomial Forms for Robustness Analysis of Uncertain Systems" (Springer, 2009) and editor of the book "Visual Servoing via Advanced Numerical Methods" (Springer, 2010). He is first author in more than 100 technical publications.

Koichi Hashimoto is a Professor at the Graduate School of Information Sciences, Tohoku University. He received his BS, MS and DE degrees from Osaka University in 1985, 1987 and 1990, respectively. His major research interests include visual servoing, parallel processing and biological systems.

Prof. Hashimoto is a member of IEEE, RSJ, SICE, ISCIE, IPSJ and JSME. He is the Editor of the book Visual Servoing: Real-Time Control of Robot Manipulators Based on Visual Sensory Feedback, World Scientific, 1993, and the book Control and Modeling of Complex Systems, Birkhäuser, 2003.

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