Points-based Visual Servoing with Central Cameras - Visual Servoing via Advanced Numerical Methods - page 298

The control C allows to fully decouple translational and rotational motions. How-
ever, the computation of the 3D features ρ i

ρ i increase the sensitivity of the control
scheme to measurement noise as it can be observed in Figure 16.5 (see between
200 th and 300 th iterations). The control law D provides very nice decoupling prop-
erties (refer to Figure 16.6). In this case, translational velocities are directly related
to the visual features (used to control the translational DOF) through a constant
diagonal matrix. Furthermore, it can be observed that this control scheme is less
sensitive to noise measurement than the previous one.

(a) (b)

1

0.2

0

0.15

−1

0.1

−2

−3

0.05

−4

0

−5

−0.05

−6

−0.1 −7

200 400 600 800 1000 1200 1400 200 400 600 800 1000 1200 1400

(c) (d)

0

0.3

0.2

0.1

0

−50

−0.1

−0.2

−0.3

−0.4

−100

−0.5

−0.6

−0.7

−0.8 −150

200 400 600 800 1000 1200 1400 200 400 600 800 1000 1200 1400

(e) (f)

Fig. 16.6 D , scaled 3D point-based visual servoing: (a) initial image; (b) desired image and
image-points trajectories; (c) translational velocities in m / s ; (d) rotational velocities in deg / s ;
and (e) error vector components