2½D visual servoing

Visual Tracking using Kernel Projected Measurement and Log-Polar Transformation

Visual Servoing is generally contained of control and feature tracking. Study of previous methods shows that no attempt has been made to optimize these two parts together. In kernel based visual servoing method, the main objective is to combine and optimize these two parts together and to make an entire control loop. This main target is accomplished by using Lyapanov theory. A Lyapanov candidat...

Ieee Transactions on Robotics and Automation

| In this paper, we propose a new approach to vision-based robot control, called 2 1/2 D visual servoing, which avoids the respective drawbacks of classical position-based and image-based visual servoing. Contrary to the position-based visual servoing, our scheme does not need any geometric 3D model of the object. Furthermore and contrary to image-based visual servoing, our approach ensures the...

Transactions on Robotics And

| In this paper, we propose a new approach to vision-based robot control, called 2 1/2 D visual servoing, which avoids the respective drawbacks of classical position-based and image-based visual servoing. Contrary to the position-based visual servoing, our scheme does not need any geometric 3D model of the object. Furthermore and contrary to image-based visual servoing, our approach ensures the...

2 1/2 D Visual Servoing: A Possible Solution to Improve Image-Based and Position-Based Visual Servoings

We describe in this paper potential problems that may appear in image-based visual servoing when the initial camera position is far away from its desired position. We show by concrete examples that local minima or a singularity of the image Jacobian can be reached during the servoing. We then recall recent results obtained to avoid these drawbacks. It consists in combining visual features obtai...

2 1/2 D Visual Servoing with Respect to Unknown Objects through a New Estimation Scheme of Camera Displacement