Dynamic Sensor Planning in Visual Servoing

We present an approach to dynamic sensor planning problems in visual servoing. Specifically, one of the main problems an image-based visual servoing is to plan the camera trajectory in order to avoid undesired configurations (e. g. , features out of view, collision with obstacles, etc.). Our approach uses the robot redundancy and employs a control scheme based on the task function approach. It combines the regulation of the selected vision-based task with the minimization of a secondary cost function, which reflects given constraints on the manipulator trajectory. We describe how this methodology is applied to common problems in robotic vision: occlusion avoidance, field of view constraint and obstacle avoidance. We demonstrate the validity of this approach with various experiments.

Authors

• Éric Marchand
• Gregory D. Hager

Keywords

• Visual servoing
• Robot vision systems
• Cameras
• Cost function
• Robot sensing systems
• Manipulators
• Robotics and automation
• Computer science
• Computed tomography
• Trajectory
• Degrees Of Freedom
• Field Of View
• Optimal Control
• Visual Task
• 3D Space
• Imaging Center
• Primary Task
• Projection Operator
• Camera Position
• Objects In The Scene
• Obstacle Avoidance
• Secondary Task
• Camera Motion
• Middle Image
• Joint Limits
• Occluded Objects
• Image Borders
• Dynamic Planning
• Navigation Function