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Statistically robust 2D visual servoing
Abstract : A fundamental step towards broadening the use of real world image-based visual servoing is to deal with the important issue of reliability and robustness. In order to address this issue, a closed loop control law is proposed that simultaneously accomplishes a visual servoing task and is robust to a general class of image processing errors. This is achieved with the application of widely accepted statistical techniques such as robust M-estimation and LMedS. Experimental results are presented which demonstrate visual servoing tasks that resist severe outlier contamination.
Cited literature [15 references]
https://hal.inria.fr/inria-00350284
Contributor : Eric Marchand <>
Submitted on : Tuesday, January 6, 2009 - 1:56:35 PM
Last modification on : Friday, January 8, 2021 - 3:12:46 AM
Long-term archiving on: : Tuesday, June 8, 2010 - 6:40:13 PM
Contributor : Eric Marchand <>
Submitted on : Tuesday, January 6, 2009 - 1:56:35 PM
Last modification on : Friday, January 8, 2021 - 3:12:46 AM
Long-term archiving on: : Tuesday, June 8, 2010 - 6:40:13 PM
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2006_ieee_tro_comport.pdf
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