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6-DoF automatic micropositioning using photometric information

Le Cui 1 Eric Marchand 1 Sinan Haliyo 2 Stéphane Régnier 2 
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 : In this paper, an approach for 6-DoF automatic micropositioning is presented. It involves a closed-loop visual servoing scheme in order to achieve eye-to-hand positioning task in micro-scale. Instead of using classical visual features in the servoing scheme, pure image photometric information from the vision sensor is employed to compute the control law for micropositioning. The approach is validated in simulation as well as experimentally on a parallel positioning stage and a digital microscope at low magnification. Experimental results show the accuracy and efficiency of this control scheme.
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Submitted on : Tuesday, May 27, 2014 - 9:48:32 PM
Last modification on : Saturday, January 15, 2022 - 3:47:05 AM
Long-term archiving on: : Wednesday, August 27, 2014 - 12:11:21 PM


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  • HAL Id : hal-00997315, version 1


Le Cui, Eric Marchand, Sinan Haliyo, Stéphane Régnier. 6-DoF automatic micropositioning using photometric information. IEEE/ASME Int Conf. on Advanced Intelligent Mechatronics, AIM'14, Jul 2014, Besancon, France. pp.918-923. ⟨hal-00997315⟩



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