A fast homography decomposition technique for visual servo of mobile robots

A fast homography decomposition algorithm for visual servo of mobile robots is presented. Motion constraints of the mobile robot are exploited and thus the complexity of the algorithm decreases significantly by avoiding the singular value decomposition (SVD) step in most cases, which is potentially competitive in such applications as visual servo task executed at the video rate. Moreover, the ambiguity problem, which is troublesome for general approaches on the unconstrained configuration such as manipulators, does not exist for the mobile robot except when the reference target plane is perpendicular to the horizontal ground. Besides, the proposed algorithm can also be exploited in other related areas such as vision-based localization, provided that the camera undergoes a planar motion. Simulation results considering the pixel noise are provided to demonstrate the performance of the proposed method.

[1]  François Chaumette,et al.  Theoretical improvements in the stability analysis of a new class of model-free visual servoing methods , 2002, 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 tutorial on visual servo control , 1996, IEEE Trans. Robotics Autom..

[4]  Warren E. Dixon,et al.  Adaptive 2.5D visual servoing of kinematically redundant robot manipulators , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[5]  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.

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

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

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

[9]  Warren E. Dixon,et al.  Homography-based visual servo tracking control of a wheeled mobile robot , 2006, IEEE Transactions on Robotics.

[10]  Warren E. Dixon,et al.  Adaptive homography-based visual servo tracking for a fixed camera configuration with a camera-in-hand extension , 2005, IEEE Transactions on Control Systems Technology.

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

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

[13]  S. Hutchinson,et al.  Visual servo control, Part II: Advanced approaches , 2007 .

[14]  Yunhui Liu,et al.  Dynamic Visual Tracking for Manipulators Using an Uncalibrated Fixed Camera , 2007, IEEE Transactions on Robotics.

[15]  Bernhard P. Wrobel,et al.  Multiple View Geometry in Computer Vision , 2001 .

[16]  Warren E. Dixon,et al.  Homography-based visual servo regulation of mobile robots , 2005, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

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