Robust decoupled visual servoing based on structured light


Autoria(s): Pagès Marco, Jordi; Collewet, Christophe; Chaumette, François; Salvi, Joaquim
Data(s)

2005

Resumo

This paper focuses on the problem of realizing a plane-to-plane virtual link between a camera attached to the end-effector of a robot and a planar object. In order to do the system independent to the object surface appearance, a structured light emitter is linked to the camera so that 4 laser pointers are projected onto the object. In a previous paper we showed that such a system has good performance and nice characteristics like partial decoupling near the desired state and robustness against misalignment of the emitter and the camera (J. Pages et al., 2004). However, no analytical results concerning the global asymptotic stability of the system were obtained due to the high complexity of the visual features utilized. In this work we present a better set of visual features which improves the properties of the features in (J. Pages et al., 2004) and for which it is possible to prove the global asymptotic stability

Formato

application/pdf

Identificador

Pagès, J., Collewet, C., Chaumette, F., i Salvi, J. (2005). IEEE/RSJ International Conference on Intelligent Robots and Systems : 2005 : IROS 2005, 2399-2404. Recuperat 11 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1545380

0-7803-8912-3

http://hdl.handle.net/10256/2255

http://dx.doi.org/10.1109/IROS.2005.1545380

Idioma(s)

eng

Publicador

IEEE

Relação

Reproducció digital del document publicat a: http://dx.doi.org/10.1109/IROS.2005.1545380

© IEEE/RSJ International Conference on Intelligent Robots and Systems : 2005 : IROS 2005, 2005, p. 2399-2404

Articles publicats (D-ATC)

Direitos

Tots els drets reservats

Palavras-Chave #Servomecanismes #Visió artificial (Robòtica) #Visió per ordinador #Percepció de la profunditat #Computer vision #Depth perception #Robot vision
Tipo

info:eu-repo/semantics/article