Skip to Main content Skip to Navigation
Conference papers

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
Document type :
Conference papers
Complete list of metadata

Cited literature [13 references]  Display  Hide  Download

https://hal.inria.fr/hal-00639682
Contributor : Eric Marchand <>
Submitted on : Wednesday, November 9, 2011 - 5:22:01 PM
Last modification on : Wednesday, April 22, 2020 - 11:16:04 PM
Long-term archiving on: : Thursday, November 15, 2012 - 11:36:03 AM

File

2011_icra_kermorgant.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-00639682, version 1

Citation

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⟩

Share

Metrics

Record views

500

Files downloads

596