Lifting wavelet transform-based photometric visual servoing

Photometric visual servoing is considered more precise and more robust than methods that use extracted geometric features, considering that photometric visual servoing uses only pure luminance intensities as indicators of vision. However, this method fails to give the expected results in situations when there are significantly distinct variations in illumination. Generating vision-based control signals through the use of the traditional wavelet approach associated with the lifting scheme can resolve this problem and reduce the considerable processing time required for the creation of interaction matrices. Unlike using traditional Wavelet approaches alone, adding the lifting scheme gives rise to a mathematical method that optimizes calculations and permits real-time wavelet modifications. In this work, a novel idea that exploits the advantages of the traditional wavelet approach associated with the attractive features of the lifting scheme, is proposed and consists of employing wavelet coefficients generated through the lifting approach as input signals in vision-based control. The development of an interaction matrix for the proposed features is presented and simulations of various illumination scenarios are carried out to demonstrate the effectiveness of the proposed technique.