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Image-based visual servoing has been found to give satisfactory accurate and robust results. However, singularity and local minima may appear causing stability and convergence problems. In this paper, we present new control schemes based on Halley's method as a temptative to obtain a robust system even when the desired configuration is singular. The new control scheme use the first and the second...
A fast homography decomposition algorithm for visual servo of mobile robots is presented. Motion constraints of the mobile robot are exploited and thus the complexity of the algorithm decreases significantly by avoiding the singular value decomposition (SVD) step in most cases, which is potentially competitive in such applications as visual servo task executed at the video rate. Moreover, the ambiguity...
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