Positioning a camera parallel to a plane using dynamic visual servoing
نویسندگان
چکیده
Visual servoing is generally based upon geometrical features. Recent developments were made in the way of a generalization of this approach to dynamic features. The idea is that velocity in the image can be measured without the constraint of having an a priori knowledge of the scene. In this paper, a control law to position a camera mounted on the end eeector of a robot, in such a way the image plane becomes parallel to a planar object , is presented. A dynamic visual servoing approach is used by deening a control loop upon the second order spatial derivatives of the optical ow. A xating task, which guarantees the object stays in the camera eld of view is joined to the rst one. Then, results obtained on a 6 d.o.f. robot are laid out for the two studied tasks.
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