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Visual Servoing

Repository containing the routines to launch the visual servoing based on LibPeR under different use cases.

Two kinds of approaches are presented:

  • PGM (Photometric Gaussian Mixtures)
  • MPP (Mixture of Photometric Potentials)

PGM based visual servoing example is available in three different versions:

  • PGM_Perspective_VisualServoing which refers to eye-in-hand photometric Gaussian Mixtures-based visual servoing using perspective camera
  • PGM_Perspective_VisualServoing_EyeToHand which refers to eye-to-hand photometric Gaussian Mixtures-based visual servoing using perspective camera
  • PGM_Camera_VisualServoing which refers to eye-in-hand photometric Gaussian Mixtures-based visual servoing with either perspective, omni, equirectangular, ... camera easily parameterable

Dependencies

Robots and cameras

  • PGM visual servoing example relies on an UR10 robot and a camera among Flir and Theta X cameras. The corresponding libraries are built directly with the project via api calls to corresponding hardware libraries.
  • MPP visual servoing example relies on a Franka Emika Panda robot and a Kodak Pixpro camera. The user needs to install the libFranka library (see the dedicated install page). On the other hand, the Kodak camera is controlled through the OpenCV library via basic camera handling.

Visual Servoing dependencies

The Visual Servoing control law is based on LibPeR and consists of the minimization of the cost function computed as the sum of squared differences between a reference and a desired image. The list below summarizes the different needed libraries:

How to use

Compilation

To run one of the available examples, build the executable in the desired directory using:

mkdir build && cd build
cmake ..
make -j12

For the PGM_Camera_VisualServoing programs, the cmake command can use additional parameters (add -D USE_UR=True to use UR robot classes, -D USE_THETA=True to use Theta X camera classes, -D USE_FLIR=True to use Flir camera classes. For the moment only combinations of THETA+UR or FLIR+UR are possible.):

cmake path/to/source/dir -DCMAKE_BUILD_TYPE=Release -DPER_DIR=/path/to/libPeR/install/dir -D USE_UR=True -D USE_THETA=True

PGM-based Visual Servoing

The programs are able to perform the servoing on images of a perspective camera, whose intrinsic parameters are described in an .xml file compatible with the libPeR format (download examples here: 2020_PGM_Perspective_VisualServoing_media, 2023_PGM_Omni_VisualServoing_media), 2024_PGM_Equi_VisualServoing_media).

This method was originally presented for perspective cameras in

Crombez, N., Mouaddib, E. M., Caron, G., & Chaumette, F. (2018). Visual servoing with photometric gaussian mixtures as dense features. IEEE Transactions on Robotics, 35(1), 49-63.

The use of the PGM feature for omnidirectional and equicamera is unpublished.

MPP-based Visual Servoing

The program relies on two successives expansion parameters to achieve a rough positioning and a more precise one (typically 0.2 and 0.03).

Furthermore, the transformation between the end-effector of the robot and the camera needs to be given (as a .yaml file).

A bash example can be found in the MPP directory to launch the Visual Servoing task with a basic setup.

Credits

Copyright (C) 2017-2024 by MIS lab (UPJV). All rights reserved.

See http://mis.u-picardie.fr/~g-caron/fr/index.php?page=7 for more information.

This software was developed at:
MIS - UPJV
33 rue Saint-Leu
80039 AMIENS CEDEX
France

and at
CNRS - AIST JRL (Joint Robotics Laboratory)
1-1-1 Umezono, Tsukuba, Ibaraki
Japan

This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.

Description:
Insight about how to set the project and build the program
Authors:
Guillaume CARON, Antoine ANDRE