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.
Type de document :
Communication dans un congrès
ICRA'17 - IEEE International Conference on Robotics and Automation , May 2017, Singapore, Singapore
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https://hal.inria.fr/hal-01445484
Contributeur : Eric Marchand <>
Soumis le : jeudi 26 janvier 2017 - 23:35:43
Dernière modification le : mercredi 16 mai 2018 - 11:24:14

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mirror-v7.pdf
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  • HAL Id : hal-01445484, version 3

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Eric Marchand, François Chaumette. Visual Servoing through mirror reflection. ICRA'17 - IEEE International Conference on Robotics and Automation , May 2017, Singapore, Singapore. 〈hal-01445484v3〉

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