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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
IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE, CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique
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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Submitted on : Thursday, January 26, 2017 - 11:35:43 PM
Last modification on : Wednesday, November 3, 2021 - 8:18:45 AM


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  • HAL Id : hal-01445484, version 3


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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