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Keeping Objects in the Field of View: An Underdetermined Task Function Approach to Visual Servoing

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3 Author(s)
Gans, N.R. ; Dept. of Mech. & Aerosp. Eng., Univ. of Florida, Gainesville, FL ; Hu, G. ; Dixon, W.E.

This paper introduces a novel visual servo controller designed to keep multiple objects in the camera field-of-view. In contrast to other visual servo controllers, there is no goal pose or goal image. In this paper, a set of underdetermined task functions are developed to regulate the mean and variance of a set of image features. Regulating these task functions will keep feature points in the camera field-of-view. An additional task function is used to maintain a high level of motion perceptibility, which ensures that desired feature point velocities can be achieved. Simulations of several object tracking tasks have verified the performance of the proposed method.

Published in:

Intelligent Control, 2008. ISIC 2008. IEEE International Symposium on

Date of Conference:

3-5 Sept. 2008