Laser steering using virtual trifocal visual servoing

Abstract

This paper focuses on the development of a weakly calibrated three-view based visual servoing control law applied to laser steering process. It proposes to revisit the conventional trifocal constraints governing a three-view geometry for a more suitable use in the design of an efficient trifocal vision-based control. Thereby, an explicit control law is derived, without any matrix inversion, which allows to simply prove the global exponential stability of the control. Moreover, only "twenty-five lines of code" are necessary to design a fast trifocal control system. Despite or thanks to the simplicity of the implementation, our control law is fast, accurate, robust to errors on the weak calibration, and exhibits good behavior in terms of convergence and decoupling. This was demonstrated by different experimental validations performed on a test-bench for the steering of laser spot on a 2D and 3D surface using a two degrees-of-freedom commercial piezoelectric mirror, as well as in preliminary cadaver trials using an endoluminal micromirror prototype.

Kinematics and performance analysis of a novel concentric tube robotic structure with embedded soft micro-actuation

“…Fig. 4b), or an OCT probe or for (ii) intervention purpose with embedding a laser tool as demonstrated in [3] for laser micro-phonosurgery.…”

“…where C 1 = 1 E 1 I 1 +E 2 I 2 +E 3 I 3 C 1 with 3 cos a 3 producing the first link curvature and equilibrium angle derivatives:…”

Trifocal tensor-based 6-DOF visual servoing

“…Due to this fact, the trifocal tensor has great potential in addressing visual servoing (Andreff and Tamadazte, 2016;Chen et al, 2018). The trifocal tensor based visual servoing can be divided into 1-D methods (Becerra and Sagüés, 2013;Sabatta and Siegwart, 2013) and 2-D ones (López-Nicolás et al, 2010;Chen et al, 2017).…”

Visual Servoing with Trifocal Tensor

“…Different from homography and epipolar geometry, trifocal tensor encapsulates the intrinsic geometric correlation among three views and is independent of the observed scene. Due to this fact, the trifocal tensor has great potential in addressing visual servoing [13]. Most of the existing trifocal tensor based methods focus on controlling a nonholonomic mobile robot to achieve different tasks, mainly including regulation [12], [14], [15], path following [16], and trajectory tracking [17].…”