Adapting for Calibration Disturbances: A Neural Uncalibrated Visual Servoing Policy
Hongxiang Yu, Anzhe Chen, Kechun Xu, Dashun Guo, Yufei Wei, Zhongxiang Zhou, Xuebo Zhang, Yue Wang
Abstract
Visual servoing (VS) is a widely used technique in industries where there are hundreds of robots, but it requires accurate camera calibration including camera intrinsic and extrinsic parameters. However, it is labour-intensive to calibrate robots one-by-one in practical use. In this paper, we propose a neural uncalibrated VS policy (NUVS) that can adapt to calibration disturbances with an adaption mechanism and a control-oriented guidance. It bridges the disturbance adaption of classical VS methods and the large convergence of learning-based VS methods. NUVS estimates the calibration embedding from past observations and servos to the desired pose under the supervision of a PBVS that can access the ground truth in simulation. With this adaption mechanism, NUVS outperforms the classical IBUVS algorithm when facing large initial camera pose offsets under the calibration disturbance. Supplementary material in: https://sites.google.com/view/neural-uncalibrated-vs
BibTeX
@inproceedings{icra2024_adaptingforcalib,
title = {Adapting for Calibration Disturbances: A Neural Uncalibrated Visual Servoing Policy},
author = {Hongxiang Yu and Anzhe Chen and Kechun Xu and Dashun Guo and Yufei Wei and Zhongxiang Zhou and Xuebo Zhang and Yue Wang and Rong Xiong},
booktitle = {ICRA 2024},
year = {2024}
}