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Conference papers

Combining Pixel and Depth Information in Image-Based Visual Servoing

Abstract : Image-based visual servoing has been found generally satisfactory and robust in the presence of camera and hand-eye calibration errors. However, in some cases, singularities and local minima may arise. We propose a modification of the feature vector which alleviates this problem without need of introducing further information, i.e., only pixel coordinates and depth estimations are used. Using the task-function approach, we demonstrate the relationship between the velocity screw of the camera and the current and desired p oses of the object in the camera frame. Experimental results on a real robotic platform illustrate the presented approaches.
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Contributor : Philippe Martinet Connect in order to contact the contributor
Submitted on : Tuesday, February 4, 2020 - 8:36:32 AM
Last modification on : Thursday, March 3, 2022 - 8:08:03 PM
Long-term archiving on: : Tuesday, May 5, 2020 - 1:04:08 PM


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Enric Cervera, Philippe Martinet. Combining Pixel and Depth Information in Image-Based Visual Servoing. ICAR'99 - 9th International Conference on Advanced Robotics, Nov 1999, Tokyo, Japan. pp.445-450. ⟨hal-02465647⟩



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