Approximating the Visuomotor Function for Visual Servoing

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1st Canadian Conference on Computer and Robot Vision (CRV'04)

University of Western Ontario, London, Ontario, Canada

May 17-May 19

ISBN: 0-7695-2127-4

	ASCII Text	x
	Simon Léonard, Martin Jägersand, "Approximating the Visuomotor Function for Visual Servoing," Computer and Robot Vision, Canadian Conference, pp. 112-119, 1st Canadian Conference on Computer and Robot Vision (CRV'04), 2004.

	BibTex	x
	@article{ 10.1109/CCCRV.2004.1301430, author = {Simon Léonard and Martin Jägersand}, title = {Approximating the Visuomotor Function for Visual Servoing}, journal ={Computer and Robot Vision, Canadian Conference}, volume = {0}, year = {2004}, isbn = {0-7695-2127-4}, pages = {112-119}, doi = {http://doi.ieeecomputersociety.org/10.1109/CCCRV.2004.1301430}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }

	RefWorks Procite/RefMan/Endnote	x
	TY - CONF JO - Computer and Robot Vision, Canadian Conference TI - Approximating the Visuomotor Function for Visual Servoing SN - 0-7695-2127-4 SP112 EP119 A1 - Simon Léonard, A1 - Martin Jägersand, PY - 2004 KW - visual servoing KW - reinforcement learning KW - function approximation VL - 0 JA - Computer and Robot Vision, Canadian Conference ER -

Simon Léonard, University of Alberta

Martin Jägersand, University of Alberta

DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/CCCRV.2004.1301430

This paper introduces a new approach to visual servoing by learning to perform tasks such as centering. The system uses function approximation from reinforcement learning to learn the visuomotor function of a task which relates actions to perceptual variations. The function model is linear and tile coding is used for generalization. The gradient-descent SARSA algorithm is used to determine the parameters. Experiments show that the system learns to center targets at different depths with stereo vision and fully reconfigures itself in monocular case.

Index Terms:

visual servoing, reinforcement learning, function approximation

Citation:

Simon Léonard, Martin Jägersand, "Approximating the Visuomotor Function for Visual Servoing," crv, pp.112-119, 1st Canadian Conference on Computer and Robot Vision (CRV'04), 2004

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