#### Image-Based Visual Servoing

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We use MATLAB and some Toolbox functions to create a robot controller that moves a camera so the image matches what we want it to look like. We call this an image-based visual servoing system.

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We use MATLAB and some Toolbox functions to create a robot controller that moves a camera so the image matches what we want it to look like. We call this an image-based visual servoing system.

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The relationship between world coordinates, image coordinates and camera spatial velocity is elegantly summed up by a single matrix equation that involves what we call the image Jacobian.

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The image Jacobian depends not only on the image plane coordinates but also the distance from the camera to the points of interest. If this distance is not known, what can we do? Let’s look at how we can determine this distance, and how the optical flow equation can be rearranged to convert from observed […]

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The relationship between world coordinates, image coordinates and camera spatial velocity has some interesting ramifications. Some very different camera motions cause identical motion of points in the image, and some camera motions leads to no change in the image at all in some parts of the image. Let’s explore at these phenomena and how we […]

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When a camera moves in the world, points in the image move in a very specific way. The image plane or pixel velocity is a function of the camera’s motion and the position of the points in the world. This is known as optical flow. Let’s explore the link between camera and image motion.

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A critical part of a visual servoing system is establishing correspondence between points in the scene observed by the camera, and points in our desired image of the scene.

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Let’s recap the important points from the topics we have covered about homogeneous coordinates, image formation, camera modeling and planar homographies.

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Let’s learn how to import a color image into MATLAB and see how the data is organized as a matrix with three dimensions.

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We previously learnt how to derive a Jacobian which relates the velocity of a point, defined relative to one coordinate frame, to the velocity relative to a different coordinate frame. Now we extend that to the 3D case.

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It is common to think about an assembly task being specified in terms of coordinates in the 3D world. An alternative approach is to consider the task in terms of the relative position of objects in one or more views of the task — visual servoing.