A new partitioned approach to image-based visual servo control

The measurements repeat 10 times, and the averages of the error measures are listed in Table III. As can be seen in Table III, the orientation errors of the planar features are all very small. The average absolute position error using the linear method is 82.62 m, and the average location error of planar features is 53.12 m. Using the proposed method, the average absolute position error is reduced to 28.07 m, and the location error is less than 11.0 m, which are comparable to those obtained using the nonlinear method. An automatic camera calibration scheme that utilizes a CMM and a novel camera calibration algorithm is presented for a multiple-sensor integrated coordinate measurement system. Distinct from other multiple stage methods, the proposed camera calibration method requires neither particular initial guess procedure nor nonlinear minimization process. Synthetic and experimental tests have demonstrated that accurate camera calibration and precise coordinate measurements can be obtained using the proposed calibration scheme. With high-precision calibration targets generated automatically using CMM and the proposed camera calibration algorithm, a fully automated and accurate camera calibration process can be performed for a multiple-sensor integrated system. Direct linear transformation into object space coordinates in close-range photogrammetry, " in Proc. Symp. A three-step camera calibration method, " IEEE Trans. A nonlinear Gauss–Seidel algorithm for noncoplanar and coplanar camera calibration with convergence analysis, " Computer Vision and Image Under-Techniques for calibration of the scale factor and image center for high accuracy 3-D machine vision metrology, " IEEE Trans. Multiple-sensor integration for rapid and high-precision coordinate metrology, " IEEE/ASME Trans. Accurate linear technique for camera calibration considering lens distortion by solving an eigenvalue problem, " Opt. [11] R. Y. Tsai, " A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV camera and lenses, " IEEE Trans. Abstract—In image-based visual servo control, where control is effected with respect to the image, there is no direct control over the Cartesian velocities of the robot end effector. As a result, the robot executes trajectories that are desirable in the image, but which can be indirect and seemingly contorted in Cartesian space. In this paper, we introduce a new partitioned approach to visual servo control that overcomes this problem. In particular, we decouple the-axis rotational and translational components of the control from the remaining degrees of freedom. Then, to guarantee that all features remain in the image throughout the entire …