Phase Shifting-based Active Visual Servoing

Abstract

This paper focuses on a problem of positioning a textureless object to a tray for alignment using a robotic manipulator with active visual servo control. In the active visual servo control, a projector projects several patterns to provide artificial visual features to the object and reflected light is captured by a camera. However, the active visual servo control cannot perform positioning the object to the tray whose pose is not fixed. To solve this problem, this paper proposes a novel active visual servo control named Phase Shifting based Active Visual Servoing (PS-AVIS) which uses a phase image instead of the image directly captured by the camera. We also propose a method of computation of a goal phase image corresponding to the changed pose of the tray for PS-AVIS. Experimental results show that the proposed PS-AVIS achieves high position accuracy even if the pose of the tray is changed.