Title :
What can prediction bring to Image-Based Visual Servoing ?
Author :
Allibert, Guillaume ; Courtial, Estelle
Author_Institution :
Inst. PRISME EA, Polytech´´Orleans, Orleans, France
Abstract :
The purpose of this paper is to show what image prediction can bring to image-based visual servoing. The visual feature prediction is obtained thanks to the interaction matrix. Based on a model predictive control strategy, the visual servoing task is formulated into an optimization problem. The error between the reference features and the predicted features is to be minimized over a receding prediction horizon. Numerous simulations highlight the interest of prediction, especially for difficult configurations such as large motion and rotation.
Keywords :
computer vision; numerical analysis; predictive control; visual servoing; image prediction; image-based visual servoing; interaction matrix; model predictive control strategy; numerous simulations; visual feature prediction; Cameras; Control systems; Error correction; Mathematical model; Medical control systems; Medical robotics; Predictive control; Predictive models; Robot vision systems; Visual servoing;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354208