2015年
An Estimation Recovery Method of Depth Observers by Periodic Image-Based Visual Servoing
2015 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT)
- ,
- ,
- 開始ページ
- 107
- 終了ページ
- 112
- 記述言語
- 英語
- 掲載種別
- 研究論文(国際会議プロシーディングス)
- 出版者・発行元
- IEEE
This paper addresses a depth estimation problem for a robotic system with a single camera. For this problem, several depth observers have been proposed so far. Most of them are based on the Persistency-of-Excitation (PE) condition. But, the PE condition is not always satisfied during a visual servoing task. The estimation of the depth observer stops if the PE condition fails. In our previous work [13], such a case has been illustrated via simulations, and also an estimation recovery method based on periodic IBVS has been proposed. In this paper, we evaluate the effectiveness of our proposed method experimentally. On the basis of experimental results, we discuss how the amplitude and the period of the periodic behavior contribute to recovering estimation.
- リンク情報
- ID情報
-
- Web of Science ID : WOS:000377572200015