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Projective Homography Based Uncalibrated Visual Servoing with Path Planning

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10464))

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Abstract

Path planning is a beneficial strategy in improving the robustness of uncalibrated visual servoing. In this paper, a novel controller based on projective homography along with a new expression of optimal camera path are proposed to accomplish visual servoing tasks under totally uncalibrated situations. The interpolated poses of optimal path is express in the current planned frame, and the expression of optimal path is completely free of camera parameters and homography decomposition. The tracking of planned path is realized in projective homography space directly, based on the novel uncalibrated controller denoted as PHUVS. The simulation results prove the effectiveness of the proposed path optimization method and PHUVS controller.

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Authors and Affiliations

  1. State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, Hubei, People’s Republic of China

    Zeyu Gong, Bo Tao, Hua Yang, Zhouping Yin & Han Ding

Authors
  1. Zeyu Gong
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  2. Bo Tao
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  3. Hua Yang
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  4. Zhouping Yin
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  5. Han Ding
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Corresponding author

Correspondence to Bo Tao .

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Gong, Z., Tao, B., Yang, H., Yin, Z., Ding, H. (2017). Projective Homography Based Uncalibrated Visual Servoing with Path Planning. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10464. Springer, Cham. https://doi.org/10.1007/978-3-319-65298-6_29

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  • DOI: https://doi.org/10.1007/978-3-319-65298-6_29

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65297-9

  • Online ISBN: 978-3-319-65298-6

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