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Concepts of Augmented Image Space and Transformed Feature Space for Efficient Visual Servoing of an “Eye-in-Hand Robot”

Published online by Cambridge University Press:  09 March 2009

Won Jang ,
Kyungjin Kim ,
Myungjin Chung  and
Zeungnam Bien
Won Jang
Affiliation:
Department of Electrical Engineering, KAIST, P. O. Box 150, Cheongryang, Seoul (Korea)
Kyungjin Kim
Affiliation:
Department of Electrical Engineering, KAIST, P. O. Box 150, Cheongryang, Seoul (Korea)
Myungjin Chung
Affiliation:
Department of Electrical Engineering, KAIST, P. O. Box 150, Cheongryang, Seoul (Korea)
Zeungnam Bien
Affiliation:
Department of Electrical Engineering, KAIST, P. O. Box 150, Cheongryang, Seoul (Korea)
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Summary

For efficient visual servoing of an “eye-in-hand” robot, the concepts of Augmented Image Space and Transformed Feature Space are presented in the paper. A formal definition of image features as functionals is given along with a technique to use defined image features for visual servoing. Compared with other known methods, the proposed concepts reduce the computational burden for visual feedback, and enhance the flexibility in describing the vision-based task. Simulations and real experiments demonstrate that the proposed concepts are useful and versatile tools for the industrial robot vision tasks, and thus the visual servoing problem can be dealt with more systematically.

Keywords

Augmented Image SpaceTransformed Feature SpaceVisual servoingEye-in-hand robotImage features
Type
Article
Information
Robotica , Volume 9 , Issue 2 , April 1991 , pp. 203 - 212
Copyright
Copyright © Cambridge University Press 1991

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