1. MEAM 620 Project Report
Nima Moshtagh

2. Vision-based Motion Planning (Visual Servoing)
Definition: Use visual information to control the pose of the robot’s end-effector (robot Manipulators) or a vehicle (mobile robot) relative to a target object.
It provides a closed-loop position control for a robot end-effector.
Two Types:
Postion-based
Image-based

3. Types of Visual Servoing
Position-based:
Extract features from images.
Estimate the pose of the target.
Compute a feedback that reduces the error in the estimated pose.
Cartesian
Control Law
Image
Feature extraction
Pose
Estimation
Camera
Video
robot + - Xd f X

4. Types of Visual Servoing
Image-base:
Extract features from images.
Compute control values in terms of features.
Feature Space
Control Law
Image
Feature extraction
Camera
Video
robot + - fd f

5. Camera Projection Models
Regular camera (Perspective projection)
Image plane
Object Z X Y
(X,Y,Z)
(xim,yim)
View point l

6. Camera Projection Models
Fish-eye lens (Spherical Projection)
FOV

7. Motion Planning in the Image Plane for Mobile Robots
To specify a desired position for the mobile robot in the image plane and compute a control law that achieves the goal by avoiding obstacles.
The positioning accuracy of the system is less sensitive to the errors in the camera calibration.
In visual servoing we are interested in determining the robot velocity required to achieve some desired value . (similar to the inverse kinematics problem)

8. Example: ER1 Robot w Kinematics Model x y z V State vector
Feature vector
Image Jacobian
inputs