QP-Based Visual Servoing Under Motion Blur-Free Constraint

Maxime Robic; Renaud Fraisse; Éric Marchand; François Chaumette

RA-L 20242 citations

QP-Based Visual Servoing Under Motion Blur-Free Constraint

Maxime Robic, Renaud Fraisse, Éric Marchand, François Chaumette

Abstract

This letter proposes a QP-based visual servoing scheme for limiting motion blur during the achievement of a visual task. Unlike traditional image restoration approaches, we want to avoid any deconvolution step by keeping the image sequence acquired by the camera as sharp as possible. To do so, we select the norm of the image gradient as sharpness metric, from which we design a velocity constraint that is injected in a QP controller. Our system is evaluated for an Earth observation satellite. Simulation and experimental results show the effectiveness of our approach.

BibTeX

@inproceedings{ral2024_qpbasedvisualser,
  title = {QP-Based Visual Servoing Under Motion Blur-Free Constraint},
  author = {Maxime Robic and Renaud Fraisse and Éric Marchand and François Chaumette},
  booktitle = {RA-L 2024},
  year = {2024}
}