Direct visual servoing based on multiple intensity histograms

Quentin Bateux 1 Eric Marchand 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 : — Classically Visual servoing considered the regulation in the image of a set of visual features (usually geometric features). Recently direct visual servoing scheme, such as photometric visual servoing, have been introduced in order to consider every pixel of the image as a primary source of information and thus avoid the extraction and the tracking of such geometric features. Previous works proposed methods to use directly the image intensities in the definition of the control law, by using for example mutual information. In this paper, we propose a method to extend these works by using a global descriptor, namely intensity histograms, on the whole or multiple subsets of the images in order to achieve control of a 6 degrees of freedom (DoF) robot. The results are then demonstrated through experimental validations.
Type de document :
Communication dans un congrès
IEEE Int. Conf. on Robotics and Automation, ICRA'15, May 2015, Seattle, United States. 2015
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  • HAL Id : hal-01120872, version 1

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Quentin Bateux, Eric Marchand. Direct visual servoing based on multiple intensity histograms. IEEE Int. Conf. on Robotics and Automation, ICRA'15, May 2015, Seattle, United States. 2015. 〈hal-01120872〉

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