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Conference papers

Visual Servoing through mirror reflection

Eric Marchand 1 François 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 : Apart the use of catadioptric cameras, only few visual servoing works exploit the use of mirror. Such a configuration is however interesting since it allows to overpass the limited camera field of view. Based on the known projection equations involved in such a system, this paper introduces the theoretical background that allows the use of planar mirror for visual servoing in different configurations. Limitations intrinsic to such systems, such as the number of d.o.f actually controllable, is then discussed. Experiments using a mirror mounted on the end-effector of a 6 d.o.f robot validate the proposed approach.
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Conference papers
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https://hal.inria.fr/hal-01445484
Contributor : Eric Marchand <>
Submitted on : Wednesday, January 25, 2017 - 6:52:11 PM
Last modification on : Thursday, November 15, 2018 - 11:57:08 AM
Long-term archiving on: : Wednesday, April 26, 2017 - 6:58:58 PM

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  • HAL Id : hal-01445484, version 2

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Eric Marchand, François Chaumette. Visual Servoing through mirror reflection. IEEE Int. Conf. on Robotics and Automation, ICRA'17, May 2017, Singapore, Singapore. ⟨hal-01445484v2⟩

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