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Questions tagged [visual-servoing]

Visual servoing, also known as vision-based robot control and abbreviated VS, is a technique which uses feedback information extracted from a vision sensor (visual feedback) to control the motion of a robot. One of the earliest papers that talks about visual servoing was from the SRI International Labs in 1979.

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How can we perform Image based Visual Servoing when we dont have the depth information

I am trying to perform image based visual servoing for my robot using a monocular camera. The issue is that in order to calculate image jacobian I need depth information Z. Can anyone point me to ...
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why atleast three points are needed to control 6 dof?

I am reading tutorials on visual servoing using Hand book of robotics and there it is mentioned that in order to control camera's six dof we need atleast 3 points. I didnt quite get the idea behind it?...
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How can I make robot follow a particular feature in the image?

I would like to make my robot follow a path that I draw on an image using my mouse. I could use visual servoing to make it follow a particular object or feature? but how can I go about it. My idea is ...
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How much joint backlash can I have and still control an arm with visual servoing?

The Sawyer robot has really expensive low-backlash harmonic drives that give it 0.1mm task repeatability. But when I see videos of robots using visuomotor servoing it doesn't look like this is needed ...
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How to produce a continuous variation of a discontinuous function?

I have a differential equation that connects the "velocity" of a point in the FOV of a camera with the velocities of a robot's joints, that is $$\dot s=J(s) \dot q$$ where s is a vector with the $x$,$...
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Vision-based Position Estimation for a quadrotor

As a subtask inside a main project I need to compute the position (x,y,z) of a quadrotor using an homography. To do this I will use a camera (attached to the quadrotor) pointing down to an ...
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How to guide a camera through a circular tube?

Let's say I have a 6-DOF flying camera and I want to make it move through a circular tube autonomously and let's suppose that the camera and the system that makes it fly are considered to be just a ...
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Visual servoing - tracking a point

I am trying resolve some issues i am having with some inverse kinematics. the robot arm i am using has a camera at the end of it, at which an object is being tracked. I can from the the camera frame ...
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Mapping between camera pose and image features in visual servoing

I have a robotic arm and a camera in eye-in-hand configuration. I know that there is a relationship between the body velocity $V$ of the camera and the velocities $\dot s$ in the image feature space ...
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Torque control in eye-in-hand visual servoing

In most papers about IBVS the camera velocity is computed and then used as a pseudo-input for the manipulator. (e.g. this one) Is there any work in which the dynamic Lagrange model $H(q) \ddot q +C(q,\...
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Image Based Visual Servoing algorithm in MATLAB

I was trying to implement the IBVS algorithm (the one explained in the Introduction here) in MATLAB myself, but I am facing the following problem : The algorithm seems to work only for the cases that ...
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Using Blob detection in V-Rep

I was trying to reproduce this youtube tutorial in V-rep and I came across some problems concerning blob detection. There are some complaints on this matter under the video. I don't believe that blob ...
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Simulation environment for conducting visual servoing experiment

I want to conduct the following experiment: I want to set up a scene with a kuka lwr4+ arm, a 3D model of an object and a camera overlooking them. I want to find the pose of the object using some pose ...
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Stabilizing a quadcopter with optical flow

My quad copter can balance itself in the air using data collected from mpu6050. With the sonar sensor, it can hover at a specific height, but it moves on the horizontal plane in a random direction. ...
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What frame of reference is used during Visual Servoing?

I'm new to the whole visual servoing area. I'm now reading the tutorial Visual Servo Control Part I: Basic Approaches" and I don't understand something fundamental - what information is available to ...