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Conference papers

Geometric and photometric vision-based robot control: modeling approach

François Chaumette 1
1 RAINBOW - Sensor-based and interactive robotics
Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : Vision-based robot control is a general methodology that consists in controlling the motions of a robot in closed loop with respect to visual data. The lecture will describe the different modeling steps necessary to design kinematics control schemes and a panel of applications showing the large class of robotics tasks that can be accomplished using this methodology. In a first part, the traditional approach based on geometric visual features, such as image points, image moments, or camera-object pose will be described. The more recent dense approach that directly uses the image content without any image tracking nor matching process will be also considered, providing a link to CNN modern methods that use the same inputs.
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Conference papers
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https://hal.inria.fr/hal-01935405
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Submitted on : Monday, November 26, 2018 - 4:19:35 PM
Last modification on : Friday, April 8, 2022 - 4:04:03 PM

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  • HAL Id : hal-01935405, version 1

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François Chaumette. Geometric and photometric vision-based robot control: modeling approach. ICRA 2018 Tutorial on Vision-based Robot Control, May 2018, Brisbane, Australia. ⟨hal-01935405⟩

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