Multi-cameras visual servoing

摘要

In this paper, the classical visual servoing techniques have been extended to the use of several cameras observing different parts of an object. The multi-camera visual servoing has been designed as a part of the task function approach. The particular choice of the task function allows one to simplify the design of the control law and the stability analysis. A positioning task on a cumbersome object has been realized using 2D and 2 1/2 D visual servoings with two cameras, mounted on a manipulator robot, and observing two different parts of the object.