Choice of image features for depth-axis control in image-based visual servo control

R. Mahony 1 P. Corke 2 François Chaumette 3
3 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : This paper is concerned with choosing image features for image based visual servo control and how this choice influences the closed-loop dynamics of the sys- tem. In prior work, image features tend to be chosen on the basis of image processing simplicity and noise sensitivity. In this paper we show that the choice of feature directly influences the closed-loop dynamics in task-space. We focus on the depth axis control of a visual servo system and compare analytically various approaches that have been reported recently in the literature. The theoretical predictions are verified by experiment.
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Communication dans un congrès
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'02, 2002, Lausanne, Switzerland, Switzerland. 1, pp.390-395, 2002
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R. Mahony, P. Corke, François Chaumette. Choice of image features for depth-axis control in image-based visual servo control. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'02, 2002, Lausanne, Switzerland, Switzerland. 1, pp.390-395, 2002. 〈inria-00352093〉

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