A mathematical characterization of the convergence domain for Direct Visual Servoing

Meriem Belinda Naamani; Guillaume Caron; Mitsuharu Morisawa; El Mustapha Mouaddib

IROS 2024poster0 citations

A mathematical characterization of the convergence domain for Direct Visual Servoing

Meriem Belinda Naamani, Guillaume Caron, Mitsuharu Morisawa, El Mustapha Mouaddib

Abstract

Direct Visual Servoing (DVS) is a technique that controls the robot motion by using the pixel intensities captured by a camera. DVS demonstrates high accuracy at convergence, prompting the development of various methods aimed at expanding its convergence domain.In this paper, we propose a mathematical characterization of the DVS convergence domain with closed-form expressions for the controlled degrees of freedom. From these expressions, we concluded that the extent of the convergence domain is related to the presence of isotropic or defocus blur, a phenomenon that had only been observed previously as a trend in empirical experiments.

BibTeX

@inproceedings{iros2024_amathematicalcha,
  title = {A mathematical characterization of the convergence domain for Direct Visual Servoing},
  author = {Meriem Belinda Naamani and Guillaume Caron and Mitsuharu Morisawa and El Mustapha Mouaddib},
  booktitle = {IROS 2024},
  year = {2024}
}