Image-based visual servoing by integration of dynamic measurements

Armel Crétual (1) , François Chaumette (2)

1 VISTA - Vision spatio-temporelle et active
2 Lagadic - Visual servoing in robotics, computer vision, and augmented reality

Visual servoing based upon geometrical features such as image point coordinates is now well studied. However, this approach has a drawback that it usually needs visual markings on the observed object to retrieve geometric features. The idea developed here is that these features can be retrieved by integrating dynamic ones, which can be estimated without any a priori knowledge of the scene. With this approach, more realistic objects can be used to achieve vision-based control such as tracking and fixation tasks. We detail the control laws concerning these two tasks, first using integration of speed in the image and then by direct regulation of these dynamic parameters. Results are finally presented and comparisons are made between the two types of control methods

Mots clés: Asservissement; robotique

Domaines: Robotique [cs.RO]

Armel Crétual, François Chaumette. Image-based visual servoing by integration of dynamic measurements. IEEE Int. Conf. on Robotics and Automation, ICRA'98, 1998, Leuven, Belgium. pp.1994-2001. ⟨inria-00352562⟩