On visual servoing based on efficient second order minimization |
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| Authors: | Omar Tahri Youcef Mezouar |
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| Affiliation: | 1. College of Information Science and Engineering, Northeastern University, Shenyang, Liaoning, China;2. State Key Laboratory of Integrated Automation for Process Industries, Northeastern University, Shenyang, Liaoning, China;3. Key Laboratory of Vibration and Control of Aero-Propulsion Systems Ministry of Education of China, Northeastern University, Shenyang, Liaoning, China;1. Rolls-Royce@NTU Corporate Lab, Nanyang Technological University, Singapore 637460, Singapore;2. School of Computer Science and Engineering, Nanyang Technological University, Singapore 639798, Singapore;3. Data Science and Artificial Intelligence Research Center, Nanyang Technological University, Singapore 639798, Singapore |
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| Abstract: | This paper deals with the Efficient Second order Minimization (ESM) and the image-based visual servoing schemes. In other words, it deals with the minimization based on the pseudo-inverse of the mean of the Jacobians or on the mean of Jacobian Pseudo-inverses. Chronologically, it has been noticed in Tahri and Chaumette (2003) 22] that ESM generally improves the system behavior when compared with the system in which only the simple Jacobian Pseudo-inverses are used. Subsequently, a mathematical explanation has been given in Malis (2004) 12]. In this paper, the proofs given by Malis are discussed and it will be shown that there is a limitation to the validity of the ESM. We will also show that the use of ESM does not necessarily ensure a better system behavior, especially in the situations where large rotational motions are involved. Further, a new appropriate formula of the ESM is proposed and validated using several kinds of features. |
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