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What can Prediction Bring to Image-Based Visual Servoing ?

Guillaume Allibert 1 Estelle Courtial 2
2 Pôle IRAUS
PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique
Abstract : The purpose of this paper is to show what image prediction can bring to Image-Based Visual Servoing. The visual feature prediction is obtained thanks to the interaction matrix. Based on a Model Predictive Control strategy, the visual servoing task is formulated into an optimization problem. The error between the reference features and the predicted features is to be minimized over a receding prediction horizon. Numerous simulations highlight the interest of prediction, especially for difficult configurations such as large motion and rotation.
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Submitted on : Friday, January 25, 2019 - 12:03:24 PM
Last modification on : Tuesday, May 26, 2020 - 6:50:35 PM
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  • HAL Id : hal-01994125, version 1


Guillaume Allibert, Estelle Courtial. What can Prediction Bring to Image-Based Visual Servoing ?. IEEE International Conference on Intelligent Robots and Systems, Oct 2009, Saint Louis, United States. ⟨hal-01994125⟩



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