Active, uncalibrated visual servoing
- 17 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
We propose a method for visual control of a robotic sys- tem which does not require the formulation of an explicit calibration between image space and the world coordinate system. Calibration is known to be a difficult and error prone process. By extracting control information directly from the image, we free our technique from the errors nor- mally associated with a fixed calibration. We demonstrate this by performing a peg-in-hole alignment using an uncal- ibrated camera to control the positioning of the peg. The algorithm utilizes feedback from a simple geometric effect , rotational invariance, to control the positioning servo lo op. The method uses an approximation to the Image Jacobian to provide smooth, near-continuous control.Keywords
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