Projective Homography Based Uncalibrated Visual Servoing

摘要

An uncalibrated visual servo method based on projective homography, denoted as PHUVS, is proposed in this paper, in which a novel task function based on projective homography, instead of the traditional Euclidean homography, is devised to realize visual servo without priori knowledge of the camera intrinsic parameters. A Kalman-Bucy filter is developed to estimate the Jacobian matrix between task function and velocity, which is employed to design the controller to regulate the 6 degree of freedom of the PUMA560 Robot. Simulations are performed and the results confirm that the new approach is suitable for visual servoing tasks, and reveals competitive performance in comparison with traditional uncalibrated image based visual servo method.