Continuous visual servoing despite the changes of visibility in image features - Inria - Institut national de recherche en sciences et technologies du numérique
Article Dans Une Revue IEEE Transactions on Robotics Année : 2005

Continuous visual servoing despite the changes of visibility in image features

Résumé

In the recent past, the visibility problem in vision-based control has been widely investigated. The proposed solutions generally have a common goal: to always keep the object in the camera's field of view during the visual servoing. Contrary to this solution, we propose a new approach based on the concept of allowing the changes of visibility in image features during the control task. To this aim, the camera invariant visual-servoing approach has been redefined in order to take into account the changes of visibility in image features. A new smooth task function using weighted features is presented, and a continuous control law is obtained starting from it by imposing its exponential decrease to zero. Furthermore, the local stability analysis of the invariant visual-servoing approach with weighted features is presented. Finally, this promising way of dealing with the visibility issue has been successfully tested with an eye-in-hand robotic system.
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hal-04654343 , version 1 (19-07-2024)

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N. Garcia-Aracil, Ezio Malis, R. Aracil-Santonja, C. Perez-Vidal. Continuous visual servoing despite the changes of visibility in image features. IEEE Transactions on Robotics, 2005, 21 (6), pp.1214-1220. ⟨10.1109/TRO.2005.855995⟩. ⟨hal-04654343⟩

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