Stereo visual servoing with decoupling control

In this paper, we present a new stereo visual servoing (SVS) with decoupling properties. The proposed approach is not related to the position-based nor image-based categories as the state vectors are built from the two-view affine geometry and the visual measurements. The Plucker coordinates are used to model many types of visual features like 3-D lines but also point pairs in the same framework. With such a representation, a SVS is carried out with a very few number of features, provided the Fundamental matrix and the infinite homography are both available. This choice is also motivated so as to better reject outliers, to ensure the epipolar constraint and to provide efficient decoupled rotational and translational kinematic control laws with closed-form interaction matrices. Several tasks functions have been designed with low-dimensional error vectors which make the proof of stability and convergence study possible.