An optimization-based approach for fusing image-based trajectory generation with position-based visual servo control

Based on the potential for improving robustness to camera calibration effects, image-based visual servoing has been one of the most widely used control methods. However, some inherent technical problems associated with the use of a nonsquare image-Jacobian have been the subject of much discussion. I...

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Bibliographic Details
Main Authors: Chen, J., Dawson, D.M., Dixon, W.E., Chitrakaran, V.
Format: Conference Proceeding
Language:English
Subjects:
Applied sciences
Calibration
Cameras
Computer science
control theory
systems
Control systems
Control theory. Systems
Exact sciences and technology
Image generation
Kinematics
Nonlinear distortion
Robust control
Servomechanisms
Servosystems
Visual servoing
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Summary:Based on the potential for improving robustness to camera calibration effects, image-based visual servoing has been one of the most widely used control methods. However, some inherent technical problems associated with the use of a nonsquare image-Jacobian have been the subject of much discussion. In an effort to address these problems, a position-based visual servo controller is proposed in the presence of uncertain camera calibration and nonlinear radial distortion effects. Specifically, an optimization-based, online trajectory generator for the image features is fused with a position-based controller to move the kinematic system to an unknown desired task-space setpoint. A planar example based on a fixed camera configuration is used to illustrate the approach. The approach is then extended to the 6 degree-of-freedom case for the camera-in-hand configuration.
ISSN:0191-2216
DOI:10.1109/CDC.2004.1429383