NDLI: Switching controller for efficient IBVS

Content Provider	IEEE Xplore Digital Library
Author	Allibert, G. Courtial, E.
Copyright Year	2012
Description	Author affiliation: I3S-CNRS/UNS, University of Nice Sophia Antipolis, France (Allibert, G.) \|\| Laboratory PRISME EA 4229, University of Orléans, France (Courtial, E.)
Abstract	Image-based visual servoing (IBVS) is now recognized to be an efficient and robust control strategy to guide robots using only visual data. Classical IBVS is commonly based on the Cartesian coordinates of points in the image. Although the convergence of the visual features to the desired ones is generally achieved, classical IBVS can lead to unnecessary displacements of the camera, such as the camera retreat problem in the case of a pure rotation around the optical axis. In contrast, IBVS based on the polar coordinates of points, is well adapted to carry out rotations around the optical axis but less adapted to manage translations. To take advantage of the benefits of each approach, we propose a new strategy for visual servoing based on a switching controller. The controller switches between Cartesian-based and polar-based approaches thanks to a switching signal provided by a decision maker. With the proposed controller, unnecessary 3D displacements are minimized without any 3D reconstruction and visibility constraints can be taken into account. The local stability of the closed-loop switching system is proved. A comparison with classical controllers and advanced controllers is performed by simulations. This comparative study illustrates the effectiveness of the proposed controller in terms of displacement in the image space and in the 3D space.
Starting Page	1695
Ending Page	1701
File Size	1348347
Page Count	7
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385650
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Optical switches Trajectory Visualization Aerospace electronics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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