Following a Straight Line in Visual Servoing with Elliptical Projections

Tiantian Shen, Graziano Chesi

Abstract

The problem of visual servoing to reach the desired location keeping elliptical projections in the camera field of view (FOV) while following a straight line is considered. The proposed approach is representing the whole path with seven polynomials of a path abscise: variables in polynomial coefficients for translational path being zero to represent a minimum path length and for rotational part being adjustable satisfying the FOV limit. The planned elliptical trajectories are tracked by an image-based visual servoing (IBVS) controller. The proposed strategy is verified by a simulational case with a circle and a superposed point, where a traditional IBVS controller directs the camera a detour to the ground, the proposed approach however keeps straight the camera trajectory and also the circle visible. In addition, a six degrees of freedom (6-DoF) articulated arm mounted with a pinhole camera is used to validate the proposed method by taking three Christmas balls as the target.

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Paper Citation


in Harvard Style

Shen T. and Chesi G. (2016). Following a Straight Line in Visual Servoing with Elliptical Projections . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-198-4, pages 47-56. DOI: 10.5220/0005960400470056


in Bibtex Style

@conference{icinco16,
author={Tiantian Shen and Graziano Chesi},
title={Following a Straight Line in Visual Servoing with Elliptical Projections},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2016},
pages={47-56},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005960400470056},
isbn={978-989-758-198-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Following a Straight Line in Visual Servoing with Elliptical Projections
SN - 978-989-758-198-4
AU - Shen T.
AU - Chesi G.
PY - 2016
SP - 47
EP - 56
DO - 10.5220/0005960400470056