What can prediction bring to image-based visual servoing?

Authors:
Guillaume Allibert;Estelle Courtial
Affiliations:
Institut PRISME EA, Orléans Cedex, France;Institut PRISME EA, Orléans Cedex, France
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 2
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Abstract

The purpose of this paper is to show what image prediction can bring to Image-Based Visual Servoing. The visual feature prediction is obtained thanks to the interaction matrix. Based on a Model Predictive Control strategy, the visual servoing task is formulated into an optimization problem. The error between the reference features and the predicted features is to be minimized over a receding prediction horizon. Numerous simulations highlight the interest of prediction, especially for difficult configurations such as large motion and rotation.