000 04180nam a22004935i 4500
001 978-1-84996-089-2
003 DE-He213
005 20140220084515.0
007 cr nn 008mamaa
008 100310s2010 xxk| s |||| 0|eng d
020 _a9781849960892
_9978-1-84996-089-2
024 7 _a10.1007/978-1-84996-089-2
_2doi
050 4 _aTJ212-225
072 7 _aTJFM
_2bicssc
072 7 _aTEC004000
_2bisacsh
082 0 4 _a629.8
_223
100 1 _aChesi, Graziano.
_eeditor.
245 1 0 _aVisual Servoing via Advanced Numerical Methods
_h[electronic resource] /
_cedited by Graziano Chesi, Koichi Hashimoto.
264 1 _aLondon :
_bSpringer London,
_c2010.
300 _aXXIV, 400 p.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aLecture Notes in Control and Information Sciences,
_x0170-8643 ;
_v401
505 0 _aVision -- Catadioptric Stereo with Planar Mirrors: Multiple-view Geometry and Camera Localization -- Empirical Characterization of Convergence Properties for Kernel-based Visual Servoing -- High-speed Visual Feedback Control for Grasping and Manipulation -- Human-machine Cooperative Manipulation with Vision-based Motion Constraints -- Luminance: A New Visual Feature for Visual Servoing -- Visual Servoing for Beating Heart Surgery -- Estimation and Path-Planning -- A Variational Approach to Trajectory Planning in Visual Servoing -- Estimation of Homography Dynamics on the Special Linear Group -- Image Measurement Errors in Visual Servoing: Estimating the Induced Positioning Error -- Multicriteria Analysis of Visual Servos through Rational Systems, Biquadratic Lyapunov Functions, and LMIs -- Path-Planning for Visual Servoing: A Review and Issues -- Single Camera Structure and Motion Estimation -- Visual Servoing and Pose Estimation with Cameras Obeying the Unified Model -- Control -- Gradient Projection Methods for Constrained Image-based Visual Servo -- Image-based Visual Servo Control Design with Multi-Constraint Satisfaction -- Points-based Visual Servoing with Central Cameras -- Sensor-based Trajectory Deformation: Application to Reactive Navigation of Nonholonomic Robots -- Unicycle-like Robots with Eye-in-Hand Monocular Cameras: From PBVS towards IBVS -- Unmanned Helicopter Control via Visual Servoing with Occlusion Handling -- Visual Servoing via Nonlinear Predictive Control.
520 _aThe text of Visual Servoing via Advanced Numerical Methods has its roots in an invited session presented at the IEEE International Conference on Robotics and Automation at Kobe in May 2009. The work presented here has been much expanded and gives a comprehensive overview of the state of the art in this important area of robotics. The latest contributions from well-known experts in visual servoing provide the reader with solutions to the fundamental and specific problems that have to be solved in using camera-derived feedback to control robotic motion and make it imitative of the actions of human beings. These solutions are based on dedicated numerical methods the development of which has been facilitated by recent progress in video devices, computer hardware and optimisation techniques. The book is organised into three parts reflecting: the uses of image processing and computer vision; control, optimal and robust control; and stability, performance and robustness analysis in visual servoing.
650 0 _aEngineering.
650 0 _aComputer vision.
650 0 _aBiomedical engineering.
650 1 4 _aEngineering.
650 2 4 _aControl.
650 2 4 _aImage Processing and Computer Vision.
650 2 4 _aSignal, Image and Speech Processing.
650 2 4 _aBiomedical Engineering.
700 1 _aHashimoto, Koichi.
_eeditor.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9781849960885
830 0 _aLecture Notes in Control and Information Sciences,
_x0170-8643 ;
_v401
856 4 0 _uhttp://dx.doi.org/10.1007/978-1-84996-089-2
912 _aZDB-2-ENG
999 _c110963
_d110963