Work

Globally-Stable and Robust Image-Based Visual Servoing for Positioning With Respect to a Cylinder

Year: 2025

Type: article

Abstract: This letter proposes a new image-based visual servoing controller for positioning a camera with respect to a cylindrical object. Traditional image-based approaches often rely on estimating planar parameters from the cylinder's projected edges, making them sensitive to noise and modeling errors. In this work, we introduce a novel controller that uses pure image features while directly tied to the cylinder's 3D pose, which depends solely on the cylinder radius. Crucially, this controller offers formal global stability irrespective of the radius estimate. Simulations and real experiments with a robotic arm confirm the controller improved convergence and robustness under practical conditions.

Source: IEEE Robotics and Automation Letters

DOI: 10.1109/lra.2025.3619710

Authors: Alessandro Colotti, François Chaumette

Institutions: Centre National de la Recherche Scientifique, Institut national de recherche en sciences et technologies du numérique, Institut de Recherche en Informatique et Systèmes Aléatoires, RAINBOW: robotique interactive et référencée capteurs, Université de Rennes

Language: English

Topic: Advanced Vision and Imaging

Subfield: Computer Vision and Pattern Recognition

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

Funder: Agence Nationale de la Recherche

Award: Singularities and Stability of Sensor-based controllers