Visual Servoing Path Planning for Cameras Obeying the Unified Model

This paper proposes a path-planning visual servoing strategy for a class of cameras that includes conventional perspective cameras, fisheye cameras, and catadioptric cameras as special cases. Specifically, these cameras are modeled by adopting a unified model recently proposed in the literature, and the strategy consists of designing image trajectories for eye-in-hand robotic systems that allow the robot to reach a desired location while satisfying typical visual servoing constraints. To this end, the proposed strategy introduces the projection of the available image features onto a virtual plane and the computation of a feasible image trajectory through polynomial programming. Then, the computed image trajectory is tracked by using an image-based visual servoing controller. Experimental results with a fisheye camera mounted on a 6-DOF robot arm are presented in order to illustrate the proposed strategy. keywords: visual servoing, path planning, unified model,