Uncalibrated visual servoing from projective reconstruction of control values

摘要

The visual servoing technique has been studied extensively as a robust method for navigating robots toward goal positions and orientations reliably. Unfortunately, the existing visual servoing methods require the calibration of cameras and robots, which is time-consuming. Thus, in this paper, we propose a visual servoing method, which does not require the calibration of cameras and robots. In particular, we show that we can navigate uncalibrated robots to goal positions properly by using the projective reconstruction based on the abstract projection of control values.