Dynamic visibility checking for vision-based motion planning

Simon Léonard, Elizabeth A. Croft, James J. Little

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

13 Citations (Scopus)


An important problem in position-based visual servoing (PBVS) is to guarantee that a target will remain within the field of view for the duration of the task. In this paper, we propose a dynamic visibility checking algorithm that, given a parametrized trajectory of the camera, determines if an arbitrary 3D target will remain within the field of view. We reformulate this problem as the problem of determining if the 3D coordinates of the target collide with the frustum formed by the camera field of view during the camera trajectory. To solve this problem, our algorithm computes and compares the shortest distance between the target and the frustum with the length of the trajectory described by the target in the camera's coordinate frame. Furthermore, we demonstrate that our algorithm can be combined with path planning algorithms and, in particular, probabilistic roadmaps (PRM). Results suggest that our algorithm is computationally efficient even when the target moves in the vicinity of image borders. In simulations, we use our dynamic visibility checking algorithm in conjunction with a PRM to plan collision free paths while providing the guarantee that a specific target will not leave the field of view.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Number of pages6
Publication statusPublished - 18 Sep 2008
Externally publishedYes
EventIEEE International Conference on Robotics and Automation 2008 - Pasadena, United States of America
Duration: 19 May 200823 May 2008
https://ieeexplore.ieee.org/xpl/conhome/4534525/proceeding (Proceedings)


ConferenceIEEE International Conference on Robotics and Automation 2008
Abbreviated titleICRA 2008
CountryUnited States of America
Internet address

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