| The objective of this paper is to propose a new homography-based
approach to image-based visual tracking and servoing. The visual
tracking algorithm proposed in the paper is based on a new efficient
second-order minimization method. Theoretical analysis and comparative
experiments with other tracking approaches show that the proposed
method has a higher convergence rate than standard first-order
minimization techniques. Therefore, it is well adapted to real-time robotic
applications. The output of the visual tracking is a homography
linking the current and the reference image of a planar target. Using
the homography, a task function isomorphic to the camera pose
has been designed. A new image-based control law is proposed which
does not need any measure of the 3D structure of the observed target
(e.g. the normal to the plane). The theoretical proof of the existence
of the isomorphism between the task function and the camera pose
and the theoretical proof of the stability of the control law are provided.
The experimental results, obtained with a 6 d.o.f. robot, show
the advantages of the proposed method with respect to the existing
approaches. |
