QP-based Visual Servoing Under Motion Blur-Free Constraint - Archive ouverte HAL
Article Dans Une Revue IEEE Robotics and Automation Letters Année : 2024

QP-based Visual Servoing Under Motion Blur-Free Constraint

Résumé

This work proposes a QP-based visual servoing scheme for limiting motion blur during the achievement of a visual task. Unlike traditional image restoration approaches, we want to avoid any deconvolution step by keeping the image sequence acquired by the camera as sharp as possible. To do so, we select the norm of the image gradient as sharpness metric, from which we design a velocity constraint that is injected in a QP controller. Our system is evaluated for an Earth observation satellite. Simulation and experimental results show the effectiveness of our approach.
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hal-04678481 , version 1 (27-08-2024)

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Maxime Robic, Renaud Fraisse, Eric Marchand, François Chaumette. QP-based Visual Servoing Under Motion Blur-Free Constraint. IEEE Robotics and Automation Letters, 2024, 9 (10), pp.8738-8745. ⟨10.1109/LRA.2024.3451394⟩. ⟨hal-04678481⟩
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