Visual feedback pose synchronization with a generalized camera model

Abstract

This paper investigates visual feedback pose synchronization in leader-follower type visibility structures on the Special Euclidean group SE(3). We first define visual robotic networks with a generalized camera model. We then propose a visual feedback pose synchronization law combining a vision-based observer with the pose synchronization law presented in our previous works. We then prove that for a static leader, the network with the control law achieves visual feedback pose synchronization. Moreover, for a moving leader, we evaluate the tracking performance of the network. Finally, the validity of the proposed control law and analysis is demonstrated through experiments.