Visual servoing with indirect image control and a predictable camera trajectory

摘要

Neither of the classical visual servoing approaches, position-based or image-based methods, are completely satisfactory. This paper presents a different approach with some advantages of both, i.e., the trajectory of the camera motion is predictable and the image features remain in the field of view of the camera. Our new approach is based on the computation of the pose of the object from the image, thus an appropriate calibration of the camera and a geometric model of the object are required. Experimental results on a real robotic platform are presented.