Visually Guided Object Grasping
Radu Horaud Fadi Dornaika Bernard Espiau
In this paper we present a visual servoing approach to the problem of object
grasping and more generally, to the problem of aligning an end-effector with an
object. First we extend the method proposed by Espiau et al. [1] to the case of
a camera which is not mounted onto the robot being controlled and we stress the
importance of the real-time estimation of the image Jacobian. Second, we show
how to represent a grasp or more generally, an alignment between two solids in
3-D projective space using an uncalibrated stereo rig. Such a 3-D projective
representation is view-invariant in the sense that it can be easily mapped into
an image set-point without any knowledge about the camera parameters. Third, we
perform an analysis of the performances of the visual servoing algorithm and of
the grasping precision that can be expected from this type of approach.