Title :
Optimizing plane-to-plane positioning tasks by image-based visual servoing and structured light
Author :
Pagès, Jordi ; Collewet, Christophe ; Chaumette, François ; Salvi, Joaquim
Author_Institution :
Davantis Technol., Bellaterra
Abstract :
This paper considers the problem of positioning an eye-in-hand system so that it becomes parallel to a planar object. Our approach to this problem is based on linking to the camera a structured light emitter designed to produce a suitable set of visual features. The aim of using structured light is not only for simplifying the image processing and allowing low-textured objects to be considered, but also for producing a control scheme with nice properties like decoupling, convergence, and adequate camera trajectory. This paper focuses on an image-based approach that achieves decoupling in all the workspace, and for which the global convergence is ensured in perfect conditions. The behavior of the image-based approach is shown to be partially equivalent to a 3-D visual servoing scheme, but with a better robustness with respect to image noise. Concerning the robustness of the approach against calibration errors, it is demonstrated both analytically and experimentally
Keywords :
closed loop systems; image motion analysis; position control; robot vision; eye-in-hand system; global convergence; image-based visual servoing; plane-to-plane positioning tasks; robot vision; Cameras; Convergence; Image processing; Intelligent robots; Laser modes; Noise robustness; Optical control; Robot vision systems; Surgical instruments; Visual servoing; Convergence analysis; decoupled visual features; plane-to-plane task; structured light; visual servoing;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2006.878785