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Abstract : |
Visual servoing is a framework for achieving the tight coupling of camera movements and information from images. We consider a typical visual servoing approach that uses geometric information about image features for controlling the position and attitude of a camera. We claim that image motion informa-tion can be used as well. We substantiate this claim by presenting two different approaches to visual tasks that use motion information. The first one uses the focus of expansion. The second one incorporates the parameters of the D affine motion model in the control equations. We illustrate both these approaches by means of a task to align the optical axis of the camera with the unknown direction of the translational motion of the system on which it is mounted, and present results of experiments done with a six DOF robot. The contribution of this work is in showing that a tight coupling between the camera behavior and image motion is possible., |
