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Robust image-based visual servoing using invariant visual information

Abstract : This paper deals with the use of invariant visual features for visual ser- voing. New features are proposed to control the 6 degrees of freedom of a robotic system with better linearizing properties and robustness to noise than the state of the art in image-based visual servoing. We show in this paper that by using these features the behavior of image-based visual servoing in task space can be significantly improved. Several experimental results are provided and validate our proposal.
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Submitted on : Tuesday, July 2, 2013 - 2:30:40 PM
Last modification on : Wednesday, November 10, 2021 - 5:28:01 PM
Long-term archiving on: : Thursday, October 3, 2013 - 4:08:05 AM


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Omar Tahri, Helder Araujo,, François Chaumette, Youcef Mezouar. Robust image-based visual servoing using invariant visual information. Robotics and Autonomous Systems, Elsevier, 2013, 61 (12), pp.1588-1600. ⟨10.1016/j.robot.2013.06.010⟩. ⟨hal-00840266⟩



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