Novel hybrid IBVS based on the unified projection model

In this paper, a novel hybrid IBVS method is proposed to improve the performance of robotics visual control system. In this work, we only consider image features to define the error function. Based on the unified projection model, features are selected to control full-DOF motion of the robot. Spherical projected features are used to control the translational motion, while perspective projected features are used to control the rotational motion. These hybrid projected features ensure nice decoupled properties in control system. In all, two sets of features are proposed to design the IBVS controller. One is based on homography-based features, the other is based on moment invariants features. Simulation results are provided to illustrate the effectiveness and optimal performance of the proposed method.