VISUAL SERVOING USING PROJECTIVE GEOMETRY

In this paper we propose a new method for visual servoing of an autonomous robot manipulator based on projective geometry. The originality of this work resides in the fact that we avoid the calibration step that is tedious and unstable (measurements errors, approximated model). The method proposed is based only on bi-dimensional data extracted from the images. To determinate the trajectory of the robot: translational and rotational movements, we use 3D projective reconstruction. The experimental results validate the proposed approach, taking several positions of the point to reach. Key words: grasping object, visual servoing, relative positioning, projective geometry, cross ratio, computer vision. 1