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Author Hu, G. ♦ Dixon, W.E.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2007
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Programmable control ♦ Adaptive control ♦ Servomechanisms ♦ Centralized control ♦ Cameras ♦ Control systems ♦ Visual servoing ♦ Robot vision systems ♦ Automatic control ♦ Quaternions
Abstract In this paper, a Lyapunov-based visual servo tracking controller is developed for a 6 degree-of-freedom camera-in-hand central catadioptric camera system. By using the central catadioptric camera, a panoramic field of view can be obtained. A Lyapunov-based tracking controller is developed by using homography-based image geometry coupled with a quaternion rotation representation. Finally, an asymptotic tracking result is proven through Lyapunov-based analysis methods.
Description Author affiliation: Florida Univ., Gainesville (Hu, G.; Dixon, W.E.)
ISBN 9781424404421
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2007-10-01
Publisher Place Singapore
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 467.68 kB
Page Count 6
Starting Page 1486
Ending Page 1491


Source: IEEE Xplore Digital Library