real9little / h_vs

Implementation of 'Homography-based 2D Visual Servoing' S. Benhimane and E. Malis with ROS integration

Homography-based 2D Visual Servoing

Implementation of Homography-based 2D Visual Servoing S. Benhimane and E. Malis with ROS integration and homography estimation algorithms.

Overview

This package runs two nodes

• h_gen_node, subscribes camera/image_raw and has a child of BaseHomographyGenerator to compute and publish projective homography G to visual_servo/G
• h_vs_node, subscribes to visual_servo/G and has a Homography2DVisualServo to compute and publish angular and linear camera frame velocity to visual_servo/twist

Overview shown below

Configuration

Configurations in

• Camera intrinsics in cam_params.yml, can be generated via the camera_calibration ROS package
• Gains in gain_params.yml