Title: Feature-based visual servo control preserving wide-angle properties of super wide-angle lens

Authors: Hirohisa Kojima; Pavel M. Trivailo

Addresses: Department of Aerospace Engineering, Graduate School of System Design, Tokyo Metropolitan University, 6-6 Asahigaoka, Hino, Tokyo 191-0065, Japan ' School of Engineering, RMIT University, Bundoora, VIC 3083, Australia

Abstract: Feature-based visual servo control methods determine camera motion by comparing a current feature image and the goal feature image. Because these methods do not require 3D information for the object, no geometric model of the object is needed, and it is therefore robust against various disturbances. Several feature-based visual servo control methods have been proposed, such as using a wide-angle lens allows the camera to capture the object in a wide angular range. However, when using a wide-angle lens with a conventional control scheme the camera undergoes wasted motion due to the peripheral distortion of wide-angle lenses. In addition, correction of the image distortion results in the loss of the wide-angle properties of the lens. This paper proposes a new feature-based visual servo control method based on a super wide-angle lens that preserves wide-angle properties.

Keywords: visual servo; wide-angle lens; lens distortion; space robotic manipulator control.

DOI: 10.1504/IJSPACESE.2017.087171

International Journal of Space Science and Engineering, 2017 Vol.4 No.4, pp.309 - 329

Available online: 26 Sep 2017 *

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