Visual Servoing from lines using a planar catadioptric system
Résumé
In this paper, we propose a complete scheme to control a mirror, using a visual servoing scheme, using lines as a set of visual features. Considering the equations of the projection of the reflection of a lines on a mirror, this paper introduces the theoretical background that allows to control the mirror using visual information. Experiments using a mirror mounted on the end-effector of a 6 d.o.f robot validate the proposed approach.
Domaines
Robotique [cs.RO]
Origine : Fichiers produits par l'(les) auteur(s)
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