Active vision for pose estimation applied to singularity avoidance in visual servoing

Don Agravante 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 : In active vision, the camera motion is controlled in order to improve a certain visual sensing strategy. In this paper, we formulate an active vision task function to improve pose estimation. This is done by defining an optimality metric on the Fisher Information Matrix. This task is then incorporated into a weighted multi-objective optimization framework. To test this approach, we apply it on the three image point visual servoing problem which has a degenerate configuration-a singularity cylinder. The simulation results show that the singular configurations of pose estimation are avoided during visual servoing. We then discuss the potential of active vision to be integrated into more complex multi-task frameworks.
Type de document :
Communication dans un congrès
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'17, Sep 2017, Vancouver, Canada. pp.2947-2952
Liste complète des métadonnées

Littérature citée [19 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-01589882
Contributeur : Eric Marchand <>
Soumis le : mardi 19 septembre 2017 - 11:03:32
Dernière modification le : mercredi 16 mai 2018 - 11:24:14

Fichier

2017_iros_agravante.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01589882, version 1

Citation

Don Agravante, François Chaumette. Active vision for pose estimation applied to singularity avoidance in visual servoing. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'17, Sep 2017, Vancouver, Canada. pp.2947-2952. 〈hal-01589882〉

Partager

Métriques

Consultations de la notice

280

Téléchargements de fichiers

152