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Continuous visual servoing despite the changes of visibility in image features

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4 Author(s)
N. Garcia-Aracil ; Inst. Nat. de Recherche en Informatique et en Automatique, Sophia-Antipolis, France ; E. Malis ; R. Aracil-Santonja ; C. Perez-Vidal

In the recent past, the visibility problem in vision-based control has been widely investigated. The proposed solutions generally have a common goal: to always keep the object in the camera's field of view during the visual servoing. Contrary to this solution, we propose a new approach based on the concept of allowing the changes of visibility in image features during the control task. To this aim, the camera invariant visual-servoing approach has been redefined in order to take into account the changes of visibility in image features. A new smooth task function using weighted features is presented, and a continuous control law is obtained starting from it by imposing its exponential decrease to zero. Furthermore, the local stability analysis of the invariant visual-servoing approach with weighted features is presented. Finally, this promising way of dealing with the visibility issue has been successfully tested with an eye-in-hand robotic system.

Published in:

IEEE Transactions on Robotics  (Volume:21 ,  Issue: 6 )