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2009
IEEE

Combining Cartesian and polar coordinates in IBVS

10 years 8 months ago
Combining Cartesian and polar coordinates in IBVS
Abstract— Image-based visual servo (IBVS) is a simple, efficient and robust technique for vision-based control. Although technically a local method in practice it demonstrates almost global convergence. However IBVS performs very poorly for cases that involve large rotations about the optical axis. It is well known that re-parameterizing the problem by using polar, instead of Cartesian coordinates, of feature points overcomes this limitation. First, simulation and experimental results are presented to show the complementarity of these two parameterizations. We then describe a new hybrid visual servo strategy based on combining polar and Cartesian image Jacobians.
Peter I. Corke, Fabien Spindler, François C
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Peter I. Corke, Fabien Spindler, François Chaumette
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