Vision Based Control Law using 3D Visual Features

Abstract

This paper presents the use of 3D visual features in the so-called "Visual Servoing Approach". After having briefly recalled how the task function approach is used in visual servoing, we present the notion of 3D logical vision sensors which permit us to extract visual information. In particular, we are interested in those composed of the estimation of both a 3D point and a 3D attitude. We give the control law expression with regard to the two kinds of visual features performed at video rate with our robotic platform. We present some of the experimental results and show the good convergence of the control laws. KEYWORDS: visual servoing, sensor based control, 3D modeling, robotics, real time vision system, visual features extraction.