Combining IBVS and PBVS to ensure the visibility constraint

In this paper we address the issue of hybrid 2D/3D visual servoing. Contrary to popular approaches, we consider the position-based visual servo as the core of our scheme. 2D information is only added when necessary, that is when the observed object is about to leave from the field of view, even partially. The injection of 2D information is tuned by only one parameter, that simply defines the area where a point is considered to be near to the image border. Simulations allow the comparison of the proposed scheme with both position-based and hybrid schemes, showing nice properties. Finally, experiments are performed on a real object that is tracked by a pose estimation algorithm. Results validate the approach by showing the object stays entirely in the image field of view.

[1]  François Chaumette,et al.  2½D visual servoing , 1999, IEEE Trans. Robotics Autom..

[2]  François Chaumette,et al.  Potential problems of stability and convergence in image-based and position-based visual servoing , 1997 .

[3]  Peter I. Corke,et al.  A new partitioned approach to image-based visual servo control , 2001, IEEE Trans. Robotics Autom..

[4]  Guillaume Morel,et al.  Explicit Incorporation of 2D Constraints in Vision Based Control of Robot Manipulators , 1999, ISER.

[5]  Rs Roel Pieters,et al.  Visual Servo Control , 2012 .

[6]  Domenico Prattichizzo,et al.  Keeping features in the field of view in eye-in-hand visual servoing: a switching approach , 2004, IEEE Transactions on Robotics.

[7]  Philippe Martinet,et al.  Position based visual servoing: keeping the object in the field of vision , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[8]  C. V. Jawahar,et al.  Probabilistic Integration of 2D and 3D Cues for Visual Servoing , 2006, 2006 9th International Conference on Control, Automation, Robotics and Vision.

[9]  Nicholas R. Gans,et al.  Stable Visual Servoing Through Hybrid Switched-System Control , 2007, IEEE Transactions on Robotics.

[10]  C. V. Jawahar,et al.  Visual Servoing by Optimization of a 2D/3D Hybrid Objective Function , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[11]  Éric Marchand,et al.  ViSP for visual servoing: a generic software platform with a wide class of robot control skills , 2005, IEEE Robotics & Automation Magazine.

[12]  Éric Marchand,et al.  Efficient model-based tracking for robot vision , 2005, Adv. Robotics.

[13]  Nicolás García Aracil,et al.  Continuous visual servoing despite the changes of visibility in image features , 2005, IEEE Transactions on Robotics.

[14]  Roberto Cipolla,et al.  Real-Time Visual Tracking of Complex Structures , 2002, IEEE Trans. Pattern Anal. Mach. Intell..

[15]  William J. Wilson,et al.  Relative end-effector control using Cartesian position based visual servoing , 1996, IEEE Trans. Robotics Autom..

[16]  Francois Chaumette,et al.  Potential problems of unstability and divergence in image-based and position-based visual servoing , 1999, 1999 European Control Conference (ECC).

[17]  François Chaumette,et al.  Visual servo control. I. Basic approaches , 2006, IEEE Robotics & Automation Magazine.

[18]  Nicolas Mansard,et al.  Continuity of Varying-Feature-Set Control Laws , 2009, IEEE Transactions on Automatic Control.