会议论文

Zhang, Xiaoyong

英文

IEEE International Conference on Systems, Man, and Cybernetics. Conference Proceedings

1062-922X

2017

2045-2050

IEEE International Conference on Systems, Man, and Cybernetics (SMC)

IEEE International Conference on Systems Man and Cybernetics Conference Proceedings

OCT 05-08, 2017

Banff, CANADA

[Xiong, Yufeng;Zhang, Xiaoyong;Peng, Jun] Cent S Univ, Sch Informat Sci & Engn, Changsha, Hunan, Peoples R China.^[Xiong, Yufeng;Zhang, Xiaoyong;Peng, Jun] Hunan Engn Lab Rail Vehicles Braking Technol, Changsha, Hunan, Peoples R China.^[Yu, Wentao] Cent South Univ Forestry & Technol, Coll Comp & Informat Engn, Changsha, Hunan, Peoples R China.

IEEE

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

978-1-5386-1645-1

National Natural Science Foundation of ChinaNational Natural Science Foundation of China (NSFC) [61379111, 61672537, 61672539, 61402538, 61602529]; 111 ProjectMinistry of Education, China - 111 Project [B17048]; Hunan science and technology plan project [2016GK2003]

本校为其他机构

This paper presents a novel vision servoing approach using depth maps to perform robotic motion task with field of view (FOV) constraint. The vision servoing scheme relies on the depth information available from an Red Green Blue-Depth (RGB-D) camera. With respect to the previous approaches, the proposed vision servoing approach has the advantage as follow: First, it does not require the estimation of 3D pose, which only relies on the error of depth maps, without feature matching. Moreover, this method addresses the problem of field of view constraint in the motion process by the frame pose es...