Single-camera visual servoing

摘要

Deals with the problem of driving the position of a point-robot to a goal point, using measurements provided by a single camera. The camera can be moved to compensate for the ambiguity in depth. It is shown that, although the system consisting of the point robot together with the moving camera is observable, there is no output-feedback controller capable of asymptotically stabilizing an equilibrium point of the closed-loop system. However, it is possible to design a controller that drives the robot to the goal, provided that the position of the camera does not converge. We give a hybrid controller-combining logic-based switching with continuous dynamics-that accomplishes this. The stability of the controller is also analyzed when there is miscalibration between the robot and the camera.