Abstract
Feature-based visual servo determines camera movement by comparing a current feature image and the goal feature image. If optical axis rotation for moving to the goal image is required, the traditional feature-based visual servo makes the camera set back. This set back motion is unnecessary. In addition, if the optical axis rotation amounts near π, the camera can't reach the goal position because of the set back motion. In this paper, to improve the optical axis rotation, a new feature-based visual servoing method is proposed, which uses a middle image made from a current image and the goal image. The validity of the proposed method is verified through numerical simulations.
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