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Visual Servoing from lines using a planar catadioptric system

Eric Marchand 1 Benjamin Fasquelle 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 : In this paper, we propose a complete scheme to control a mirror, using a visual servoing scheme, using lines as a set of visual features. Considering the equations of the projection of the reflection of a lines on a mirror, this paper introduces the theoretical background that allows to control the mirror using visual information. Experiments using a mirror mounted on the end-effector of a 6 d.o.f robot validate the proposed approach.
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Submitted on : Thursday, July 13, 2017 - 11:51:55 AM
Last modification on : Friday, August 5, 2022 - 2:54:52 PM
Long-term archiving on: : Thursday, January 25, 2018 - 2:40:06 AM


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  • HAL Id : hal-01561757, version 1


Eric Marchand, Benjamin Fasquelle. Visual Servoing from lines using a planar catadioptric system. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'17, Sep 2017, Vancouver, Canada. pp.2935-2940. ⟨hal-01561757⟩



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