Optimizing plane-to-plane positioning tasks by image-based visual servoing and structured light

J. Pages, C. Collewet, F. Chaumette, J. Salvi
2006 IEEE Transactions on robotics  
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
more » ... e 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. Index Terms-Convergence analysis, decoupled visual features, plane-to-plane task, structured light, visual servoing.
doi:10.1109/tro.2006.878785 fatcat:npqdj6p4kbbotawag34z3jbaxq