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Statistically robust 2-D visual servoing
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DOI：10.1109/TRO.2006.870666.png)
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Abstract
En 中文
A fundamental step toward broadening the use of real-world image-based visual servoing is to deal with the important issue of reliability and robustness. In order to address this issue, a closed-loop control law is proposed that simultaneously accomplishes a visual servoing task and is robust to a general class of image processing errors. This is achieved with the application of widely accepted statistical techniques such as robust M-estimation and LMedS. Experimental results are presented which demonstrate visual servoing tasks that resist severe outlier contamination.
Keywords:
least median squares (LMedS)
M-estimators
robust control law
visual servoing
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