Frequency response experiments of eye-vergence visual servoing in lateral motion with 3D evolutionary pose tracking

Hongzhi Tian, Yu Cui, Mamoru Minami, Akira Yanou

Research output: Contribution to journalArticle

4 Citations (Scopus)


Visual servoing towards moving target with hand-eye cameras fixed at hand is inevitably affected by hand dynamical oscillations. Therefore, it is difficult to make target position keep always at the center of camera’s view, as nonlinear dynamical effects of whole manipulator stand against tracking ability. To overcome this defect of the hand-eye fixed camera system, an eye-vergence system has been put forward, where the cameras could rotate to observe the target object. The visual servoing controllers of hand and eye-vergence are installed independently, so that it can observe the target object at the center of camera images through eye-vergence function. The dynamical superiorities of eye-vergence system are verified through frequency response experiments, comparing with hand tracking performances and the proposed eye-vergence tracking performances. This paper analyzes the performance of 3D-object position and orientation tracking, in which orientation representation method is based on quaternion, and the orientation tracking results are shown with more comprehensive analysis of system performance.

Original languageEnglish
Pages (from-to)36-43
Number of pages8
JournalArtificial Life and Robotics
Issue number1
Publication statusPublished - Mar 1 2017



  • Eye-vergence
  • Model-based matching
  • Quaternion
  • Visual servoing

ASJC Scopus subject areas

  • Biochemistry, Genetics and Molecular Biology(all)
  • Artificial Intelligence

Cite this