Towards multi-focal visual servoing

摘要

Visual servoing has become an important and powerful tool in robot control. However, the operating range is restricted by the properties of the vision sensor. Thus, in a wide range visual servoing workspace the utilization of one sensor with fixed properties is not advisable. In this work the impact of focal length and operating distance on visual servoing performance in presence of noise and quantization is investigated. The impact of sensor selection for different distances with respect to control performance is revealed. A multifocal visual servoing strategy is presented.