Particle Filter-based Direct Visual Servoing

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 : With respect to classical visual servoing (VS) technics based on geometrical features, the main drawback of direct visual servoing is its limited convergence area. In this paper we propose a new direct visual servoing control law that relies on a particle filter to achieve non-local and non-linear optimization in order to increase this convergence area. Thanks to multi-view geometry and image transfer techniques, a set of particles (which correspond to potential camera velocities) are drawn and evaluated in order to evaluate the best camera trajectory. This new control law is validated on a 6 DOF positioning task performed on a real gantry robot and statistical comparisons are also provided from simulation results.
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Communication dans un congrès
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'16, Oct 2016, Daejeon, South Korea. pp.4180-4186, 2016
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  • HAL Id : hal-01355396, version 1

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Quentin Bateux, Eric Marchand. Particle Filter-based Direct Visual Servoing. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'16, Oct 2016, Daejeon, South Korea. pp.4180-4186, 2016. 〈hal-01355396〉

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