三次元再構成を行わない視覚サーボ系のための障害物回避軌道の生成

抄録

In this paper, a trajectory generator for a visual servoing system with two cameras is proposed to make the system accomplish obstacle avoidance tasks in unknown environments. Using the estimated epipolar constraint between two cameras, the proposed scheme can generate trajectories for the visual servoing system on the 2D image planes by a simple obstacle avoidance method without reconstructing 3D geometry. The proposed scheme is based on the idea, “as long as one of projected trajectories does not intersect with projected obstacles, the trajectory in 3D space can avoid the obstacles.”An experimental result is shown to demonstrate the validity of a combination of the proposed trajectory generator and the visual servoing control scheme.