Control Visual de Robots con Cambios Temporales de Visibilidad en las Características de la Imagen (Visual Control of Robots with Changes of Visibility in Image Features)

Nicolás M. García-Aracil (nicolas.garcia@umh.es)1, José María Azorín Poveda (jm.azorin@umh.es)1, José María Sabater Navarro (j.sabater@umh.es)1, Carlos Pérez Vidal (carlos.perez@umh.es)1, Roque Saltarén Pazmiño (rsaltaren@etsii.upm.es)2


1Universidad Miguel Hernández de Elche
2Universidad Politécnica de Madrid

This paper appears in: Revista IEEE América Latina

Publication Date: March 2006
Volume: 4,   Issue: 1 
ISSN: 1548-0992


Abstract:
Visual servoing concerns several fields of research including vision systems, robotics and automatic control. Visual servoing can be useful for a wide range of applications and it can be used to control many different dynamic systems (manipulator arms, mobile robots, autonomous underwater vehicles, aircraft, etc.). However, visual servoing systems are not complete efficiency due to the numerous problems that are still unresolved. In this paper a new general solution to visibility restriction associated to all visual servoing techniques based directly or un-directly on image features is presented. This solution allows the temporary disappearance of image features during the control task versus the solutions proposed until now which are based on keeping always the object in the field of view. Taking into account this concept, the theoretical bases of a continuous and stable visual servoing approach that allows the temporary presence of features in the image have been defined and developed. Using them, the camera invariant visual servoing approach has been reformulated to adapt it to the temporary disappearance of image features during the control task.

Index Terms:
Computer vision, visual servoing, visibility constraint, continuity, robustness   


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