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Lecture42-IntelligentControl-VisualServoing-II

The lecture focuses on Visual Servo Control, detailing major processes involved in visual-motor model estimation and different servoing approaches. It covers position-based, image-based, and 2 1/2 D visual servoing, along with practical applications such as door opening tasks. The content is presented by Shyamanta M Hazarika from the Indian Institute of Technology Guwahati.

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Sampreeti Mazumdar
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7 views21 pages

Lecture42-IntelligentControl-VisualServoing-II

The lecture focuses on Visual Servo Control, detailing major processes involved in visual-motor model estimation and different servoing approaches. It covers position-based, image-based, and 2 1/2 D visual servoing, along with practical applications such as door opening tasks. The content is presented by Shyamanta M Hazarika from the Indian Institute of Technology Guwahati.

Uploaded by

Sampreeti Mazumdar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Robotic Vision and Control

Lecture 42: Visual Servo Control - II

Shyamanta M Hazarika
Biomimetic Robotics and Artificial Intelligence Lab
Mechanical Engineering
Indian Institute of Technology Guwahati
s.m.hazarika@iitg.ac.in
Visual Servo Control
Major Processes Involved

2 © Shyamanta M Hazarika, ME, IIT Guwahati


Visual-Motor Model Estimation
Taxonomy

3 © Shyamanta M Hazarika, ME, IIT Guwahati


Visual Motor Model Estimation
Image-Robot Jacobian

4 © Shyamanta M Hazarika, ME, IIT Guwahati


Visual Servoing Approaches
Three Different Categories

5 © Shyamanta M Hazarika, ME, IIT Guwahati


Position based Visual Servoing

Clean separation between the


control and the estimation based
on visual data
n Features are extracted from images and used
to estimate the pose of the target.
n Error between the current pose and the desired
pose of the EE is defined in the task space.

6 © Shyamanta M Hazarika, ME, IIT Guwahati


Position based Visual Servoing

7 © Shyamanta M Hazarika, ME, IIT Guwahati


Position based Visual Servoing
Block Diagram

8 © Shyamanta M Hazarika, ME, IIT Guwahati


Image based Visual Servoing

9 © Shyamanta M Hazarika, ME, IIT Guwahati


Image based Visual Servoing

10 © Shyamanta M Hazarika, ME, IIT Guwahati


Image based Visual Servoing

11 © Shyamanta M Hazarika, ME, IIT Guwahati


Image based Visual Servoing
Block Diagram

12 © Shyamanta M Hazarika, ME, IIT Guwahati


2 1/2 D Visual Servoing

13 © Shyamanta M Hazarika, ME, IIT Guwahati


2 1/2 D Visual Servoing

14 © Shyamanta M Hazarika, ME, IIT Guwahati


2 1/2 D Visual Servoing

15 © Shyamanta M Hazarika, ME, IIT Guwahati


Model Based 3D Object Tracking

16 © Shyamanta M Hazarika, ME, IIT Guwahati


Align and Track Task

17 © Shyamanta M Hazarika, ME, IIT Guwahati


Positioning Task

18 © Shyamanta M Hazarika, ME, IIT Guwahati


Point-to-Point Positioning

19 © Shyamanta M Hazarika, ME, IIT Guwahati


Example Application
State Diagram for Door Opening

20 © Shyamanta M Hazarika, ME, IIT Guwahati


Example Application
Detect and Servo the Door Handle

21 © Shyamanta M Hazarika, ME, IIT Guwahati

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