Planar Image Based Visual Servoing as a Navigation Problem

We describe a hybrid planar image-based servo algorithm which, for a simplified planar convex rigid body, converges to a static goal for all initial conditions within the workspace of the camera. This is achieved by using the sequential composition of a palette of continuous image based controllers. Each sub-controller, based on a specified set of collinear feature points, is shown to converge for all initial configurations in which the feature points are visible. Furthermore, the controller guarantees that the body will maintain a "visible" orientation, i. e. the feature points will always be in view of the camera. This is achieved by introducing a change of coordinates from SE(2) to an image plane measurement of three points, and imposing a navigation function in that coordinate system. Our intuition suggests that appropriately generalized versions of these ideas may be extended to SE(3).

Authors

• Noah J. Cowan
• Daniel E. Koditschek

Keywords

• Visual servoing
• Motion planning
• Cameras
• Signal processing algorithms
• Error correction
• Robustness
• Image converters
• Robot kinematics
• Computer errors
• Switches
• Image Plane
• Navigation Problem
• Coordinate System
• Workspace
• Rigid Body
• Feature Points
• Navigation Function
• Model Plant
• Control Objective
• Pose Estimation
• Diffeomorphism
• Camera View
• Set Of Orientations
• Task Space
• Virtual Sensors
• Pinhole Camera
• Domain Of Attraction
• Camera Coordinate
• Local Linear