Defocus-based Direct Visual Servoing

Guillaume Caron (1, 2)

1 CNRS-AIST JRL - Joint Robotics Laboratory
2 MIS - Modélisation, Information et Systèmes - UR UPJV 4290

Direct Visual Servoing (DVS) considers pixel brightness directly as input of robot control. Recent DVS variants consider image processing as smoothing or frequency domain transforms, resulting in large convergence domains. This paper proposes to consider defocus to optically smooth images without processing. The resulting Defocus-based DVS shows convergence domains competing with the state-of-the-art, larger in some challenging cases, for lower complexity.

Domaines: Automatique / Robotique; Vision par ordinateur et reconnaissance de formes [cs.CV]

Guillaume Caron. Defocus-based Direct Visual Servoing. IEEE Robotics and Automation Letters, 2021, 6 (2), pp.4057-4064. ⟨10.1109/LRA.2021.3067845⟩. ⟨hal-03155667⟩