Abstract

This paper presents a novel adaptive controller for image-based visual servoing using generalized image features. The key idea lies in the development of the depth-independent interaction matrix and the proposal of an adaptive algorithm for estimating the unknown geometric parameters of the features in the 3-D space. Furthermore, we derive the conditions for the asymptotic stability of the proposed controller and demonstrate that the conditions are satisfied for six types of common image features: points, lines, distances, angles, areas, and centroids. Experiments have been conducted to validate the proposed controller.

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