Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Depth Estimation for Image-based Visual Servoing of an Under-actuated System

Under-actuated 시스템에서의 이미지 서보잉을 위한 깊이 추정 기법

  • 이대원 (서울대학교 기계항공공학부) ;
  • 김진호 (서울대학교 기계항공공학부) ;
  • 김현진 (서울대학교 기계항공공학부)
  • Received : 2011.08.03
  • Accepted : 2011.12.15
  • Published : 2012.01.01
Download PDF
⟨ Previous Next ⟩

Abstract

A simple and accurate depth estimation algorithm for an IBVS (Image-Based Visual Servoing) is presented. Specifically, this algorithm is useful for under-actuated systems such as visual-guided quadrotor UAVs (Unmanned Aerial Vehicles). Since the image of a marker changes with changing pitch and roll angles of quadrotor, it is difficult to estimate depth. The proposed algorithm compensates a shape of the marker, so that the system acquire more accurate depth information without complicated processes. Also, the roll and pitch channels are decoupled so that the IBVS algorithm can be used in an under-actuated quadrotor system.

Keywords

References

  1. S. H. Lee and Y. D. Kim, "Position estimation for UAV guidance using stereo vision," KSAS Spring Conference (in Korean), pp. 354-358, Apr. 2008.
  2. S. Hutchinson, G. D. Hanger, and P. I. Corke, "A tutorial on visual servo control," IEEE Transaction on Robotics and Automation, vol. 12, no. 5, pp. 651-670, 1996. https://doi.org/10.1109/70.538972
  3. S. Soatto and P. Perona, "Structure-independent visual motion control on the essential manifold," in Proc. IFAC Symposium on Robot Control, pp. 869-876, 1994.
  4. Y. Ma, J. Koseck'a, and S. Sastry, "Linear differential algorithm for motion recovery: a geometric approach," International Journal of Computer Vision, vol. 36, no. 1, pp. 71-89, 2002. https://doi.org/10.1023/A:1008124507881
  5. T. Fitzgibbons and E. Nebot, "Application of vision in simultaneous localization and mapping," Intelligent Autonomous Systems, vol. 36, no. 1, pp. 71-89, 2000.
  6. T. Hamel and R. Mahonym, "Visual servoing of an under-actuated dynamic rigid-body system: an image-based approach," IEEE Transaction on Robotic and Automation, vol. 18, no. 2, pp. 187-198, Apr. 2002. https://doi.org/10.1109/TRA.2002.999647
  7. A. De Luca, G. Oriolo, and P. R. Giordano, "On-line estimation of feature depth for image-based visual servoing scheme," Proc. of the 2007 IEEE International Conference on Robotics and Automation, pp. 2823-2828, 2007.
  8. E. Malis, F. Chaumette, and S. Boudet, "2-1/2-d visual servoing," IEEE Transaction on Robotic and Automation, vol. 15, pp. 238-250, Apr. 1999. https://doi.org/10.1109/70.760345
  9. N. Papanikolopoulos, P. Khosla, and T. Kanade, "Adapive robot visual tracking," Proc. of the 1991 America Control Conference, pp. 962-967, 1991.
  10. K. Hosada and M. Asada, "Versatile visual servoing without knowledge of true jacobian," Proc. of the IEEE/RSJ International Conference Intelligent Robots and Systems, pp. 186-193, 1994.
  11. J. A. Piepmeier, "A dynamic quasi-newton method for model independent visual servoing," Ph.D. dissertation, Georgia Inst. Technology, July 1999.
  12. E. Altug, J. P. Ostrowski, and C. J. Taylor, "Control of a quadrotor helicopter using visual feedback," Proc. of the 2002 IEEE International Conference on Robotics and Automation, vol. 1, pp. 72-77, 2002.
  13. A. Astolfi, L. Hsu, M. Netto, and R. Ortega, "Two solutions to the adaptive visual servoing problem," IEEE Transactions on Robotics, vol. 18, no. 3, pp. 387-392, June 2002. https://doi.org/10.1109/TRA.2002.1019475
  14. Vicon Company, Vicon Motion Capture Systems, Available at http://www.vicon.com/, 2011.