#### 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 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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We revisit the important points from this masterclass.

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We summarise the important points from this masterclass.

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We extend what we have learnt to a 3-link planar robot where we can also consider the rotational velocity of the end-effector.

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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 Jacobian matrix provides powerful diagnostics about how well the robot’s configuration is suited to the task. Wrist singularities can be easily detected and the concept of a velocity ellipse is extended to a 3-dimensional velocity ellipsoid.

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We can also 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.

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Let’s recap the important points from the topics we have covered in our discussion of optical flow and visual servoing.

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The end-effector is not able to move equally fast in all directions, and that in fact depends on the pose of the robot. We will introduce the velocity ellipse to illustrate this.