Visual Servoing: IBVS vs PBVS

The project is a simple comparison between classical and most famous approaches to visual servoing: Image Based and Position Based. In order to do that, a Pinhole camera model has been used.

The files are organized as follows:

• reference_systems.m : script that shows the reference systems world frame and camera frame;
• camera.m : It is the main matlab sript. It simulates the projection in the image plane of a point and a rectangle, located in front of the camera at a fixed distance and creates the relative plots;
• proj.m : function that executes the projection in the image plane;
• rot.m : function that executes the rototraslation from world frame to camera frame;
• take_photo : function that returns the projection in another 2D plot (like a photograph);
• the directory IBVS contains the Simulink model of the Image Based control
• the directory PBVS contains the Simulink model of the Position Based control

Pinhole camera model

To have a representation of the camera model is enough to run camera.m. Parameters that can be changed are:

• O, which is the position of the world frame;
• C, which is the position of the camera frame;
• f, focal distance of the camera, which is a fundamental parameter of the camera.

After the execution of the script two plots will appear: one for the projection of a generic point and one for the projection in the image plane of an inclined rectangle.

The second plot also contains the projection in a separate chart (as a photograph).

IBVS

PBVS