Image-Based Visual Servoing With Unknown Point Feature Correspondence

This paper presents a stable correspondence-free image-based visual servoing approach. Unlike classical image-based visual controllers, explicit feature correspondence (matching) to some desired set is not required before a control input is obtained. Instead, a stabilising control approach is used to simultaneously solve the feature correspondence and visual servoing problem, removing any feature tracking requirement or additional image processing. Stability of the proposed approach is demonstrated via Lyapunov analysis and preliminary results using a free-flying camera are presented.

[1]  François Chaumette,et al.  Point-based and region-based image moments for visual servoing of planar objects , 2005, IEEE Transactions on Robotics.

[2]  Peter I. Corke,et al.  Spherical image-based visual servo and structure estimation , 2010, 2010 IEEE International Conference on Robotics and Automation.

[3]  François Chaumette,et al.  Visual servo control. II. Advanced approaches [Tutorial] , 2007, IEEE Robotics & Automation Magazine.

[4]  K. Madhava Krishna,et al.  Servoing across object instances: Visual servoing for object category , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[5]  Christophe Collewet,et al.  Modeling complex luminance variations for target tracking , 2008, 2008 IEEE Conference on Computer Vision and Pattern Recognition.

[6]  Aaron McFadyen,et al.  Multi-rotor with suspended load: System Dynamics and Control Toolbox , 2015, 2015 IEEE Aerospace Conference.

[7]  François Chaumette,et al.  Visual Servoing and Visual Tracking , 2008, Springer Handbook of Robotics.

[8]  Christophe Collewet,et al.  Photometric Visual Servoing , 2011, IEEE Transactions on Robotics.

[9]  Peter I. Corke,et al.  Visual Predictive Control of Spiral Motion , 2014, IEEE Transactions on Robotics.

[10]  Gregory D. Hager,et al.  Kernel-based visual servoing , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[11]  Peter I. Corke,et al.  Aircraft collision avoidance using spherical visual predictive control and single point features , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[12]  Felipe Gonzalez,et al.  MPC controlled multirotor with suspended slung Load: System architecture and visual load detection , 2016, 2016 IEEE Aerospace Conference.

[13]  Seth Hutchinson,et al.  Visual Servo Control Part I: Basic Approaches , 2006 .

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

[15]  Éric Marchand,et al.  Mutual Information-Based Visual Servoing , 2011, IEEE Transactions on Robotics.

[16]  Tyler Ryan,et al.  Probabilistic Correspondence in Video Sequences for Efficient State Estimation and Autonomous Flight , 2016, IEEE Transactions on Robotics.

[17]  François Chaumette,et al.  Predictive Control for Constrained Image-Based Visual Servoing , 2010, IEEE Transactions on Robotics.

[18]  Éric Marchand,et al.  Feature tracking for visual servoing purposes , 2005, Robotics Auton. Syst..