Path Planning in Image Space for Robust Visual Servoing

10 years 6 months ago
Path Planning in Image Space for Robust Visual Servoing
Vision feedback control loop techniques are efficient for a great class of applications but they come up against difficulties when the initial and desired positions of the camera are distant. In this paper we propose a new approach to resolve these difficulties by planning trajectories in the image. Constraints such that the object remains in the camera field of view can thus be taken into account. Furthermore, using this process, current measurement always remain close to their desired value and a control by Imagebased Servoing ensures the robustness with respect to modeling errors. We apply our method when object dimension are known or not and/or when the calibration parameters of the camera are well or badly estimated. Finally, real time experimental results using a camera mounted on the end effector of a six d-o-f robot are presented.
Youcef Mezouar, François Chaumette
Added 31 Jul 2010
Updated 31 Jul 2010
Type Conference
Year 2000
Where ICRA
Authors Youcef Mezouar, François Chaumette
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