Switch Images Based on Fusion in Uncalibrated Visual Servoing

This paper studies stable switch control between multiple cameras for uncalibrated visual servoing. To get the continuous dynamic image Jacobian matrix among robots and distributed visual sensors, we suggest switch images based on fusion. We analyze fusion structure and design fusion algorithm that is suitable with having dynamically adjustable fusion weights. Simulations without any knowledge of mobile robots and uncalibrated visual sensors show that the method has more adaptability capability than the traditional instant switch control method. In this way the method can enhance the system stability at the switching process