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Multi-sensor data fusion in sensor-based control: application to multi-camera visual servoing

Olivier Kermorgant 1 F. Chaumette 1 
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : A low-level sensor fusion scheme is presented for the positioning of a multi-sensor robot. This non-hierarchical framework can be used for robot arms or other velocity- controlled robots, and is part of the task function approach. A stability analysis is presented for the general case, then several control laws illustrate the versatility of the framework. This approach is applied to the multi-camera eye-in-hand/eye- to-hand configuration in visual servoing. Experimental results point out the feasibility and the effectiveness of the proposed control laws. Mono-camera and multi-camera schemes are compared, showing that the proposed sensor fusion scheme improves the behavior of a robot arm.
keyword : Visual Servoing
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Submitted on : Wednesday, November 9, 2011 - 5:22:01 PM
Last modification on : Thursday, January 20, 2022 - 4:20:27 PM
Long-term archiving on: : Thursday, November 15, 2012 - 11:36:03 AM


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  • HAL Id : hal-00639682, version 1


Olivier Kermorgant, F. Chaumette. Multi-sensor data fusion in sensor-based control: application to multi-camera visual servoing. IEEE Int. Conf. on Robotics and Automation, ICRA'11, 2011, Shanghai, China, China. pp.4518-4523. ⟨hal-00639682⟩



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