This paper presents an image-based visual servo controller for an industrial robot. The simple structure controller is based on a transposed Jacobian which feeds back directly the image feature errors and the joint velocities. Under these hypotheses, the control algorithm does not need to use the inverse kinematics and the inverse jacobian matrix. Experimental results in two different industria...

We give an abstract criterion for pasting pseudofunctors on two subcategories of a category into a pseudofunctor on the whole category. As an application we extend the variance theory of the twisted inverse image (−)! over schemes to that over formal schemes. Thus we show that over composites of compactifiable maps of noetherian formal schemes, there is a pseudofunctor (−)! such that if f is a ...

In this paper we generalize the iterated refinement method, introduced by the authors in [8], to a time-continuous inverse scale-space formulation. The iterated refinement procedure yields a sequence of convex variational problems, evolving toward the noisy image. The inverse scale space method arises as a limit for a penalization parameter tending to zero, while the number of iteration steps t...

ÐIn this paper, an Inverse Hough Transform algorithm is proposed. This algorithm reconstructs correctly the original image, using only the data of the Hough Transform space and it is applicable to any binary image. As a first application, the Inverse Hough Transform algorithm is used for straight-line detection and filtering. The lines are detected not just as continuous straight lines, which i...

Image denoising problem can be addressed as an inverse problem. One of the most recent approaches to solve an inverse problem is a sparse decomposition over overcomplete dictionaries. In sparse representation, images are represented as a linear combination of dictionary atoms. In this paper, we propose an algorithm for image denoising based on Orthogonal Matching Pursuit (OMP) for determining s...

A new approach to eye-in-hand path planning image-based visual servoing based on fuzzy modeling and control is proposed in this paper. Fuzzy modeling is applied to obtain an inverse model of the mapping between image features velocities and joints velocities, avoiding the necessity of inverting the Jacobian. The inverse model is directly used as a controller. The control scheme is applied to a ...