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Planar image based visual servoing as a navigation problem

Proceedings of the IEEE International Conference on Robotics and Automation, 1999

Noah J. Cowan*, and Daniel E. Koditschek*
*: Department of Electrical Engineering and Computer Science, University of Michigan
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Abstract
      We describe a hybrid planar image-based servo algorithm which, for a simplified planar convex rigid body, converges to a static goal for all initial conditions within the workspace of the camera. This is achieved by using the sequential composition of a palette of continuous image based controllers. Each sub-controller, based on a specified set of collinear feature points, is shown to converge for all initial configurations in which the feature points are visible. Furthermore, the controller guarantees that the body will maintain a “visible” orientation, i.e. the feature points will always be in view of the camera. This is achieved by introducing a change of coordinates from SE(2) to an image plane measurement of three points, and imposing a navigation function in that coordinate system. Our intuition suggests that appropriately generalized versions of these ideas may be extended to SE(3).
BibTeX entry
@conference{Cowan-ICRA-1999,
   author={Cowan, N.J., Koditschek, D.E.}
   title={Planar image based visual servoing as a navigation problem}
   publisher={IEEE}
   journal={IEEE Conference  - Proceedings of the IEEE International Conference on Robotics and Automation}
   volume={1}
   pages={611-617}
   year={1999}
}
Comments
Copyright 1999 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, Volume 1, 1999, pages 611–617.
This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania’s products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.

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