Paper Info
Title
2½D visual servoing
Abstract
We propose an approach to vision-based robot control, called 2½D visual servoing, which avoids the respective drawbacks of classical position-based and image-based visual servoing. Contrary to the position-based visual servoing, our scheme does not need any geometric three-dimensional model of the object. Furthermore and contrary to image-based visual servoing, our approach ensures the convergence of the control law in the whole task space. 2½D visual servoing is based on the estimation of the partial camera displacement from the current to the desired camera poses at each iteration of the control law. Visual features and data extracted from the partial displacement allow us to design a decoupled control law controlling the six camera DOFs. The robustness of our visual servoing scheme with respect to camera calibration errors is also analyzed: the necessary and sufficient conditions for local asymptotic stability are easily obtained. Then, due to the simple structure of the system, sufficient conditions for global asymptotic stability are established. Finally, experimental results with an eye-in-hand robotic system confirm the improvement in the stability and convergence domain of the 2½D visual servoing with respect to classical position-based and image-based visual servoing
Year
DOI
Venue
1999
10.1109/70.760345
Robotics and Automation, IEEE Transactions
Keywords
DocType
Volume
asymptotic stability,convergence,image sensors,image sequences,robot vision,robust control,2½D visual servoing,camera calibration errors,decoupled control law,eye-in-hand robotic system,global asymptotic stability,local asymptotic stability,necessary and sufficient conditions,partial camera displacement,robustness,vision-based robot control
Journal
15
Issue
ISSN
Citations 
2
1042-296X
160
PageRank 
References 
Authors
9.91
7
3
Search Limit
100160
Name
Order
Citations
PageRank
Ezio Malis1132280.65
francois chaumette24374311.50
Sylvie Boudet332631.11