|Department of Engineering|
|University of Cambridge > Engineering Department > Machine Intelligence Lab|
VISUAL TRACKING AND CONTROL USING LIE ALGEBRAS
T. Drummond and R. Cipolla
A novel approach to visual servoing is presented, which takes advantage of the structure of the Lie algebra of affine transformations. The aim of this project is to use feedback from a visual sensor to guide a robot arm to a target position. The sensor is placed in the end effector of the robot, the `camera-in-hand' approach, and thus provides direct feedback of the robot motion relative to the target scene via observed transformations of the scene. These scene transformations are obtained by measuring the affine deformations of a target planar contour, captured by use of an active contour, or snake. Deformations of the snake are constrained using the Lie groups of affine and projective transformations. Properties of the Lie algebra of affine transformations are exploited to integrate observed deformations to the target contour which can be compensated with appropriate robot motion using a non-linear control structure. These techniques have been implemented using a video camera to control a 5 DoF robot arm. Experiments with this implementation are presented, together with a discussion of the results.
If you have difficulty viewing files that end
which are gzip compressed, then you may be able to find
tools to uncompress them at the gzip
If you have difficulty viewing files that are in PostScript, (ending
'.ps.gz'), then you may be able to
find tools to view them at
We have attempted to provide automatically generated PDF copies of documents for which only PostScript versions have previously been available. These are clearly marked in the database - due to the nature of the automatic conversion process, they are likely to be badly aliased when viewed at default resolution on screen by acroread.
|| Search | CUED | Cambridge University ||
2005 Cambridge University Engineering Dept
Information provided by milab-maintainer