Visual servoing through mirror reflection

Abstract

Apart the use of catadioptric cameras, only few visual servoing works exploit the use of mirror. Such a configuration is however interesting since it allows to overpass the limited camera field of view. Based on the known projection equations involved in such a system, this paper introduces the theoretical background that allows the use of planar mirror for visual servoing in different configurations. Limitations intrinsic to such systems, such as the number of d.o.f actually controllable, is then discussed. Experiments using a mirror mounted on the end-effector of a 6 d.o.f robot validate the proposed approach.

Visual servoing from lines using a planar catadioptric system

“…Few research work studied the use of mirrors in visual servoing when the relative position between the camera and mirror varies. This paper extends our prior work which dealt with the combination of visual servoing and a planar mirror [12].…”

“…Other configuration of the triplet camera/robot/mirror can be found and have been explored in the case of points in [12]. Thus, one wants to observe a target at a given position in the image through its reflection in the mirror.…”

“…Considering mirrors, lines have been considered for catadioptric system such as in [8]. In this paper we revisit the modeling proposed in [12] to adapt the proposed framework to lines. We will exhibit the interaction matrix that allow to control the mirror from the reflection of a set of lines.…”

“…In this paper, we propose to extend [12] to the case of another visual feature: lines. Lines have already consider in visual servoing e.g.…”

“…Open loop control law is considered for the tracking process. In our prior work [12], we proposed the complete modelling for the control of planar mirror using a visual servoing scheme. As far as the visual features are concerned, have been considered point.…”