inria-00350318, version 1
Optimizing plane-to-plane positioning tasks by image-based visual servoing and structured light
J. Pagès 1Christophe Collewet
a, 2François Chaumette
a, 2J. Salvi 1
IEEE Trans. on Robotics 22, 5 (2006) 1000-1010
Résumé : This paper considers the problem of positioning an eye-in-hand system so that it gets parallel to a planar object. Our approach to this problem is based on linking to the camera a structured light emitter designed to produce a suitable set of visual features. The aim of using structured light is not only for simplifying the image processing and allowing low-textured objects to be considered, but also for producing a control scheme with nice properties like decoupling, stability and adequate camera trajectory. This paper focuses on an image-based approach that achieves decoupling in all the workspace and for which the global asymptotic stability is ensured in perfect conditions. The behavior of the image-based approach is shown to be partially equivalent to a 3D visual servoing scheme but with a better robustness with respect to image noise. Concerning the robustness of the approach against calibration errors, it is demonstrated both analytically and experimentally.
- a – INRIA
- 1 : Universitat de Girona
- Universitat de Girona
- 2 : LAGADIC (INRIA - IRISA)
- CNRS : UMR6074 – INRIA – Université de Rennes 1
- Domaine : Informatique/Robotique
- inria-00350318, version 1
- http://hal.inria.fr/inria-00350318
- oai:hal.inria.fr:inria-00350318
- Contributeur : Eric Marchand
- Déposé pour le compte de :
- Soumis le : Mardi 6 Janvier 2009, 14:21:30
- Dernière modification le : Dimanche 11 Janvier 2009, 16:36:42






Documents associés
Exporter