A Novel Visual Servoing Approach For Keeping Feature Points Within The Field-of-View

특징점이 Field of View를 벗어나지 않는 새로운 Visual Servoing 기법

  • 박도환 (서울대학 전기컴퓨터 공학부) ;
  • 염준형 (서울대학 전기컴퓨터 공학부) ;
  • 박노용 (서울대학 전기컴퓨터 공학부) ;
  • 하인중 (서울대학 전기컴퓨터 공학부)
  • Published : 2007.04.27

Abstract

In this paper, an eye-in-hand visual servoing strategy for keeping feature points within the FOV(field-of-view) is proposed. We first specify the FOV constraint which must be satisfied to keep the feature points within the FOV. It is expressed as the inequality relationship between (i) the LOS(jine-of-sight) angles of the center of the feature points from the optical axis of the camera and (ii) the distance between the object and the camera. We then design a nonlinear feedback controller which decouples linearly the translational and rotational control loops. Finally, we show that appropriate choice of the controller gains assures to satisfy the FOV constraint. The main advantage of our approach over the previous ones is that the trajectory of the camera is smooth and circular-like. Furthermore, ours can be applied to the large camera displacement problem.

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