Abstract

We propose a method for visual control of a robotic system which does not require the formulation of an explicit calibration between image space and the world coordinate system. Calibration is known to be a difficult and error prone process. By extracting control information directly from the image, we free our technique from the errors normally associated with a fixed calibration. We demonstrate this by performing a peg-in-hole alignment using an uncalibrated camera to control the positioning of the peg. The algorithm utilizes feedback from a simple geometric effect, rotational invariance, to control the positioning servo loop. The method uses an approximation to the Image Jacobian to provide smooth, near-continuous control. 1 INTRODUCTION In many real world applications, there exists a need to align one object with another. Many researchers have concentrated their efforts on recovering the true position (the world coordinates) of the object to be manipulated. They used these results...

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