Frequency Domain Visual Servoing Using Planar Contours

Fourier domain methods have had a long association with geometric vision. In this paper, we introduce Fourier domain methods into the field of visual servoing for the first time. We show how different properties of Fourier transforms may be used to address specific issues in traditional visual servoing methods, giving rise to algorithms that are more flexible. Specifically, we demonstrate how Fourier analysis may be used to obtain straight camera paths in the Cartesian space, do path following and correspondence-less visual servoing. Most importantly, by introducing Fourier techniques, we set a framework into which robust Fourier-based geometry processing algorithms may be incorporated to address the various issues in servoing.