Visual Servoing

Visual servoing, also known as Vision-Based Robot Control and abbreviated VS, is a technique which uses feedback information extracted from a vision sensor to control the motion of a robot. One of the earliest papers that talks about visual servoing was from the SRI International Labs[1]. A first tutorial on Visual Servoing was published in 1996 by S. A. Hutchinson, G. D. Hager, and P. I. Corke[2], more recents tutorials were published in 2006 and 2007 by F. Chaumette and S. Hutchinson [3][4].

Contents

Visual Servoing Methodology

Visual Servoing techniques are broadly classified into the following types[2][3]

IBVS was proposed by Weiss and Sanderson[5]. The control law is based on the error between current and desired features on the image plane, and does not involve any estimate of the pose of the target. The features may be the coordinates of visual features, lines or moments of regions. IBVS has difficulties[6] with motions very large rotations, which has come to be called camera retreat[7].

PBVS is sometimes referred to as Pose-Based VS and is a model-based technique (with a single camera). This is because the pose of the object of interest is estimated with respect to the camera and then a command is issued to the robot controller, which in turn controls the robot. In this case the image features are extracted as well, but are additionally used to estimated 3D information (pose of the object in Cartesian space), hence it is servoing in 3D.

Hybrid approaches use some combination of the 2D and 3D servoing. There have been a few different approaches to hybrid servoing

Softwares

Tutorials

See also

References

  1. ^ Agin, G.J., "Real Time Control of a Robot with a Mobile Camera". Technical Note 179, SRI International, Feb. 1979.
  2. ^ a b S. A. Hutchinson, G. D. Hager, and P. I. Corke. A tutorial on visual servo control. IEEE Trans. Robot. Automat., 12(5):651--670, Oct. 1996.
  3. ^ a b F. Chaumette, S. Hutchinson. Visual Servo Control, Part I: Basic Approaches. IEEE Robotics and Automation Magazine, 13(4):82-90, December 2006
  4. ^ F. Chaumette, S. Hutchinson. Visual Servo Control, Part II: Advanced Approaches. IEEE Robotics and Automation Magazine, 14(1):109-118, March 2007
  5. ^ A. C. Sanderson and L. E. Weiss. Adaptive visual servo control of robots. In A. Pugh, editor, Robot Vision, pages 107–116. IFS, 1983
  6. ^ F. Chaumette. Potential problems of stability and convergence in image-based and position-based visual servoing. In D. Kriegman, G. Hager, and S. Morse, editors, The confluence of vision and control, volume 237 of Lecture Notes in Control and Information Sciences, pages 66–78. Springer-Verlag, 1998.
  7. ^ a b P. Corke and S. A. Hutchinson. A new partitioned approach to image-based visual servo control. IEEE Trans. Robot. Autom., 17(4):507–515, Aug. 2001.
  8. ^ E. Malis, F. Chaumette and S. Boudet, 2.5 D visual servoing, IEEE Transactions on Robotics and Automation, 15(2):238-250, 1999
  9. ^ E. Marchand, F. Spindler, F. Chaumette. ViSP for visual servoing: a generic software platform with a wide class of robot control skills. IEEE Robotics and Automation Magazine, Special Issue on "Software Packages for Vision-Based Control of Motion", P. Oh, D. Burschka (Eds.), 12(4):40-52, December 2005.

External links