This paper proposes a path planning visual servoing strategy for a class of cameras that includes conventional perspective cameras, fisheye cameras and catadioptric cameras as special cases. Specifically, these cameras are modeled by adopting a unified model recently proposed in the literature and the strategy consists of designing image trajectories for eye-in-hand robotic systems that allow the robot to reach a desired location while satisfying typical visual servoing constraints. To this end, the proposed strategy introduces the projection of the available image features onto a virtual plane and the computation of a feasible image trajectory through polynomial programming. Then, the computed image trajectory is tracked by using an image-based visual servoing controller. Experimental results with a fisheye camera mounted on a 6-d.o.f. robot arm are presented in order to illustrate the proposed strategy. © 2012 Copyright Taylor & Francis and The Robotics Society of Japan. ; postprint
Visual servoing path planning for cameras obeying the unified model
2012-01-01
26
Article (Journal)
Electronic Resource
English
DDC: | 629 |
A visual servoing path-planning strategy for cameras obeying the unified model
BASE | 2010
|Photometric visual servoing for omnidirectional cameras
British Library Online Contents | 2013
|