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Combining Pixel and Depth Information in Image-Based Visual Servoing

Abstract : Image-based visual servoing has been found generally satisfactory and robust in the presence of camera and hand-eye calibration errors. However, in some cases, singularities and local minima may arise. We propose a modification of the feature vector which alleviates this problem without need of introducing further information, i.e., only pixel coordinates and depth estimations are used. Using the task-function approach, we demonstrate the relationship between the velocity screw of the camera and the current and desired p oses of the object in the camera frame. Experimental results on a real robotic platform illustrate the presented approaches.
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https://hal.inria.fr/hal-02465647
Contributor : Philippe Martinet <>
Submitted on : Tuesday, February 4, 2020 - 8:36:32 AM
Last modification on : Tuesday, April 20, 2021 - 11:20:06 AM
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  • HAL Id : hal-02465647, version 1

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Enric Cervera, Philippe Martinet. Combining Pixel and Depth Information in Image-Based Visual Servoing. ICAR'99 - 9th International Conference on Advanced Robotics, Nov 1999, Tokyo, Japan. pp.445-450. ⟨hal-02465647⟩

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