Abstract
Cylindrical surface positioning task is defined as moving a camera to a certain pose with respect to cylindrical surface. To achieve this task, a fringe projection-based visual servoing method is proposed. First of all, phase shiftingbased fringe projection profilometry (FPP) is used to obtain 3D point cloud of the cylindrical surface. Then, the cylindrical axis is extracted by solving a least square optimization problem without constraints. Afterwards, a visual feature selection method is proposed to construct four features of six axis parameters and corresponding interaction matrix and control law are derived to move the camera to desired pose. Special circumstances when interaction matrix is highly decoupled is also discussed. Experiments on cylindrical axis fitting and cylindrical surface positioning task are performed. The results show the visual servo control method is feasible.
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