Skip to main content

Vision-Based Guidance and Control of Robots in Projective Space

  • Conference paper
  • First Online:

Part of the Lecture Notes in Computer Science book series (LNCS,volume 1843)

Abstract

In this paper, we propose a method using stereo vision for visually guiding and controlling a robot in projective three-space. Our formulation is entirely projective. Metric models are not required and are replaced with projective models of both the stereo geometry and the robot’s “projective kinematics”. Such models are preferable since they can be identified from the vision data without any a-priori knowledge. More precisely, we present constraints on projective space that reflect the visibility and mobility underlying a given task. Using interaction matrix that relates articulation space to projective space, we decompose the task into three elementary components: a translation and two rotations. This allows us to define trajectories that are both visually and globally feasible, i.e. problems like self-occlusion, local minima, and divergent control no longer exist. In this paper, we will not adopt a straight-foward image-based trajectory tracking. Instead, a directly computed control that combines a feed-forward steering loop with a feed-back control loop, based on the Cartesian error of each of the task’s components.

Keywords

  • Projective Space
  • Rigid Motion
  • Stereo Vision
  • Visual Servoing
  • Primitive Motion

These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

References

  1. E. Berry, P. Martinet, and J. Gallice. Trajectory generation by visual servoing. In Proc. of the IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS’97), volume 2, pages 1066–1072, Grenoble, France, September 1997.

    Google Scholar 

  2. F. Chaumette. Visual Servoing, volume 7 of World Scientific Series in Robotics and Automated Systems, chapter Classification and Realization of the Different Vision-based Tasks, pages 199–228. World Scientific, Singapour, 1993.

    Google Scholar 

  3. F. Chaumette. Potential problems of stability and convergence in image-based and position-based visual servoing. In The Confluence of Vision and Control, number 237 in LNCIS. Springer-Verlag, 1996.

    Google Scholar 

  4. T. Drummond and R. Cipolla. Visual tracking and control using Lie algebras. In Proc. of IEEE Conf. on Computer Vision and Pattern Recognition (CVPR’1999), volume 2, pages 652–657, Ft. Collins, CO, June 1999.

    Google Scholar 

  5. B. Espiau, F. Chaumette, and P. Rives. A new approach to visual servoing in robotics. IEEE Trans. on Robotics and Automation, 8(3):313–326, June 1992.

    CrossRef  Google Scholar 

  6. O. D. Faugeras. What can be seen in three dimensions with an uncalibrated stereo rig. In Proc. 2nd European Conference on Computer Vision (ECCV’92), pages 563–578. Springer Verlag, Santa Margherita Ligure, Italy, May 1992.

    Google Scholar 

  7. G. Hager. A modular system for robust positioning using feedback from stereo vision. IEEE Trans. on Robotics and Automation, 13(4):582–595, August 1997.

    CrossRef  Google Scholar 

  8. R. I. Hartley. Projective reconstruction and invariants from multiple images. IEEE Trans. on Pattern Analysis and Machine Intelligence, 16(10):1036–1041, October 1994.

    CrossRef  Google Scholar 

  9. R. Horaud, F. Dornaika, and B. Espiau. Visually guided object grasping. IEEE Transactions on Robotics and Automation, 14(4):525–532, August 1998.

    CrossRef  Google Scholar 

  10. E. Malis, F. Chaumette, and S. Boudet. 2 1/2 d visual servoing. IEEE Trans. on Robotics and Automation, 15(2):238–250, April 1999.

    CrossRef  Google Scholar 

  11. A. Ruf and R. Horaud. Rigid and articulated motion seen with an uncalibrated stereo rig. In Proc. of the 7th International Conference on Computer Vision (ICCV’99), pages 789–796, Korfu, Greece, September 1999.

    Google Scholar 

  12. A. Ruf, F. Martin, B. Lamiroy, and R. Horaud. Visual control using projective kinematics. In Proc. of 9th International Symposium on Robotics Research (ISRR’ 99), page to appear, Snowbird, UT, October 1999. Springer-Verlag.

    Google Scholar 

  13. J. Selig. Geometrical Methods in Robotics. Springer, 1996.

    Google Scholar 

  14. M. Spratling and R. Cipolla. Uncalibrated visual servoing. In E. T. R. B. Fisher, editor, British Machine Vision Conference (BMVC’96), pages 545–554, 1996.

    Google Scholar 

  15. A. Zisserman, P. A. Beardsley, and I. D. Reid. Metric calibration of a stereo rig. In Proc. IEEE Workshop on Representation of Visual Scenes, pages 93–100, Cambridge, Mass., June 1995.

    Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Editor information

Editors and Affiliations

Rights and permissions

Reprints and Permissions

Copyright information

© 2000 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Ruf, A., Horaud, R. (2000). Vision-Based Guidance and Control of Robots in Projective Space. In: Vernon, D. (eds) Computer Vision — ECCV 2000. ECCV 2000. Lecture Notes in Computer Science, vol 1843. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45053-X_4

Download citation

  • DOI: https://doi.org/10.1007/3-540-45053-X_4

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-67686-7

  • Online ISBN: 978-3-540-45053-5

  • eBook Packages: Springer Book Archive

We’re sorry, something doesn't seem to be working properly.

Please try refreshing the page. If that doesn't work, please contact support so we can address the problem.