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One Click Focus with Eye-in-hand/Eye-to-hand Cooperation

Claire Dune 1 Eric Marchand 1 Cédric Leroux 2
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 : A critical assumption of many multi-view control systems is the initial visibility of the regions of interest from all the views. An initialization step is proposed for a hybrid eye-in-hand/eye-to-hand grasping system to overcome this requirement. In this paper, the object of interest is assumed to be within the eye-to-hand field of view, whereas it may not be within the eye-in-hand one. The object model is unknown and no database is used. The object lies in a complex scene with a cluttered background. A method to automatically focus the object of interest is presented, tested and validated on a multi view robotic system.
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https://hal.inria.fr/inria-00160956
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Submitted on : Monday, July 9, 2007 - 3:18:00 PM
Last modification on : Monday, February 10, 2020 - 6:12:33 PM
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  • HAL Id : inria-00160956, version 1

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Claire Dune, Eric Marchand, Cédric Leroux. One Click Focus with Eye-in-hand/Eye-to-hand Cooperation. IEEE Int. Conf. on Robotics and Automation, Apr 2007, Roma, Italia, Italy. pp.2471-2476. ⟨inria-00160956⟩

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