Visual Servoing

Visual servo-control with eye-in-hand camera mounted on a Mitsubishi PA-10 robot

2D Rotation (I)

2D Rotation (II)

2D Forward Movement

2D Rotation + Forward Movement

3D Rotation + Translation Movement

2D Extrinsic Calibration Error

3D Rotation (II)

3D Rotation (III)

2D Rotation (III) using
Mean Interaction Matrix

Visual servo-control using fire-wire camera mounted on a mobile robot

LED panel allows visual-servoing in smoke conditions.

When the robot is located near a point of interest such as a door, an LED panel can be used for fine-grained localization. Computing the pose, we can obtain the position of the robot and performing visual-servoing it is possible to move it to the required place by using the programmable high luminosity LED panel. A firewire camera (FOculus FO124) has been mounted on the robot, which is operated on-board by an application running on the mini-PC, by taking image of the LED panel. This panel acts as a landmark in order to estimate the current position of the robot by using a computer vision pose-estimation method. As the geometry of the LED panel is known in advance, it is possible to use a geometric method to estimate the pose, having previously calibrated the camera. The location error with the visual pose estimation is of a few centimeters.