An Image-based calibration free visual servoing method

摘要

In a position based visual servo control system,a serial of properties extracted from image are used to estimate the relative position between target and camera.The nonlinear imaging process makes the visual reconstruction difficult.An image-based visual servo that bypassed 3D space reconstruction and made use of image properties to control robotic motion.Image Jacobian provides a crucial contribution in the image based visual servoing control.To work out the robotic end effecter motion to targer,it is necessary to calibrate robot, camera and the relation between them.The image based visual calibraton-free servo control dynamically estimates the image Jacobian to replace actual image Jacobian. This method eliminated the tedious and error prone calibration in industrial applications,and especially avoided the difficulty of visual reconstruction that brought about by the nonlinear imaging process and image matching in the position based visual servoing control method.