Image based Visual Servoing - Interaction Matrix and Camera Velocity

Interaction matrix and camera velocity calculation using aruco markers centre point and Intel Realsense camera

Setup

1. Python >= 3.9
2. pip install -r requirements.txt
3. Intel Realsense Camera connected
4. Aruco marker (DICT_5X5_100)

Directions of use

python3 ibvs.py --mu "0.008"

• Modify mu (1/sec) i.e. lambda in control law equation

Output

• Error (1,2)
• Interaction matrix (2,6)
• Camera Spatial velocity (1,6)
• Units: m/s, rad/s