Direct visual servoing in the non-linear scale space of camera pose

Guillaume Caron (1, 2) , Yusuke Yoshiyasu (3)

1 CNRS-AIST JRL - Joint Robotics Laboratory
2 MIS - Modélisation, Information et Systèmes - UR UPJV 4290
3 AIST - National Institute of Advanced Industrial Science and Technology

This paper proposes to consider direct visual ser- voing (DVS) for object manipulation by a robot arm. The convergence domain limits of DVS are overcome by introducing the non-linear scale space related to camera pose. Its use in a new, yet little complex, direct cost can enlarge twice the convergence domain of one state-of-the-art DVS, as many experiments of symmetric object orientation control assess.

Domaines: Automatique / Robotique; Vision par ordinateur et reconnaissance de formes [cs.CV]

Guillaume Caron, Yusuke Yoshiyasu. Direct visual servoing in the non-linear scale space of camera pose. 26th International Conference on Pattern Recognition, Aug 2022, Montréal, Canada. pp.4154-4160, ⟨10.1109/ICPR56361.2022.9956615⟩. ⟨hal-03636579⟩