RGBD Image Processing Algorithm for Target Recognition and Pose Estimation of Visual Servo System This paper studies the control performance of visual servoing system under the planar camera and RGBD cameras, the contribution of this paper is through rapid identification of target RGBD images and precise measurement of depth direction to strengthen the performance indicators of visual servoing system such as real time and accuracy, etc. Firstly, color images acquired by the RGBD camera are segmented based on optimized normalized cuts. Next, the gray scale is restored according to the histogram feature of the target image. Then, the obtained 2D graphics depth information and the enhanced gray image information are distort merged to complete the target pose estimation based on the Hausdorff distance, and the current image pose is matched with the target image pose. The end angle and the speed of the robot are calculated to complete a control cycle and the process is iterated until the servo task is completed. Finally, the performance index of this control system based on proposed algorithm is tested about accuracy, realtime under positionbased visual servoing system. The results demonstrate and validate that the RGBD image processing algorithm proposed in this paper has the performance in the above aspects of the visual servoing system.

A Novel Imagebased Path Planning Algorithm for EyeinHand Visual Servoing of a Redundant Manipulator in a Human Centered Environment This paper presents a novel imagebased pathplanning and execution framework for visionbased control of a robot in a human centered environment. The proposed method involves applying Rapidlyexploring Random Tree (RRT) exploration to perform ImageBased Visual Servoing (IBVS) while satisfying multiple task constraints by exploiting robot redundancy. The methodology incorporates dataset of robotxe2x80x99s workspace images for pathplanning and design a controller based on visual servoing framework. This method is generic enough to include constraints like FieldofView (FoV) limits, joint limits, obstacles, various singularities, occlusions etc. in the planning stage itself using task function approach and thereby avoiding them during the execution. The use of pathplanning eliminates many of the inherent limitations of IBVS with eyeinhand configuration and makes the use of visual servoing practical for dynamic and complex environments. Several experiments have been performed on a UR5 robotic manipulator to demonstrate that it is an effective and robust way to guide a robot in such environments.