New shortest-path approaches to visual servoing

In recent years, a number of visual servo control algorithms have been proposed. Most approaches try to solve the inherent problems of image-based and position based servoing by partitioning the control between image and Cartesian spaces. However, partitioning of the control often causes the Cartesian path to become more complex, which might result in operation close to the joint limits. A solution to avoid the joint limits is to use a shortest-path approach, which avoids the limits in most cases. In this paper, two new shortest-path approaches to visual servoing are presented. First, a position-based approach is proposed that guarantees both shortest Cartesian trajectory and object visibility. Then, a variant is presented, which avoids the use of a 3D model of the target object by using homography based partial pose estimation.

[1]  François Chaumette,et al.  2 1/2 D Visual Servoing with Respect to Unknown Objects Through a New Estimation Scheme of Camera Displacement , 2000, International Journal of Computer Vision.

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

[3]  Nicholas R. Gans,et al.  An asymptotically stable switched system visual controller for eye in hand robots , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[4]  Paul D. Fiore,et al.  Efficient Linear Solution of Exterior Orientation , 2001, IEEE Trans. Pattern Anal. Mach. Intell..

[5]  Olivier Faugeras,et al.  Motion and Structure from Motion in a piecewise Planar Environment , 1988, Int. J. Pattern Recognit. Artif. Intell..

[6]  François Chaumette,et al.  2d 1/2 visual servoing with respect to a planar object , 1997 .

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

[8]  E. Malis,et al.  2 1/2 D Visual Servoing , 1999 .

[9]  Koichiro Deguchi,et al.  Optimal motion control for image-based visual servoing by decoupling translation and rotation , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).

[10]  François Chaumette,et al.  Positioning a coarse-calibrated camera with respect to an unknown object by 2D 1/2 visual servoing , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[11]  Peter I. Corke,et al.  A tutorial on visual servo control , 1996, IEEE Trans. Robotics Autom..

[12]  Peter I. Corke,et al.  Performance Tests for Visual Servo Control Systems, with Application to Partitioned Approaches to Visual Servo Control , 2003, Int. J. Robotics Res..

[13]  Patrick Rives,et al.  Robustness of image-based visual servoing with respect to depth distribution errors , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

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

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

[16]  François Chaumette,et al.  Path planning for robust image-based control , 2002, IEEE Trans. Robotics Autom..