Skip to Main content Skip to Navigation
Conference papers

Vision Based Control Law using 3D Visual Features

Abstract : This paper presents the use of 3D visual features in the so-called "Visual Servo-ing Approach". After having brie y recalled how the task function approach is used in visual servoing, we present the notion of 3D logical vision sensors which permit us to extract visual information. In particular, we a r e i n terested in those composed of the estimation of both a 3D point and a 3D attitude. We g i v e t h e c o n trol law expression with regard to the two kinds of visual features performed at video rate with our robotic platform. We present some of the experimental results and show the good convergence of the control laws.
Document type :
Conference papers
Complete list of metadata

Cited literature [9 references]  Display  Hide  Download

https://hal.inria.fr/hal-02465451
Contributor : Philippe Martinet <>
Submitted on : Monday, February 3, 2020 - 9:36:39 PM
Last modification on : Wednesday, September 9, 2020 - 10:50:17 AM
Long-term archiving on: : Monday, May 4, 2020 - 6:13:45 PM

File

isram96.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-02465451, version 1

Citation

Philippe Martinet, Jean Gallice, Khadraoui Djamel. Vision Based Control Law using 3D Visual Features. World Automation Congress, WAC'96, Robotics and Manufacturing Systems, May 1996, Montpellier, France. pp.497-502. ⟨hal-02465451⟩

Share

Metrics

Record views

60

Files downloads

226