Visual servoing set free from image processing

Christophe Collewet 1 Eric Marchand 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 : This paper proposes a new way to achieve robotic tasks by visual servoing. Instead of using geometric features (points, straight lines, pose, homography, etc.) as it is usually done, we use directly the luminance of all pixels in the image. Since most of the classical control laws fail in this case, we turn the visual servoing problem into an optimization problem leading to a new control law. Experimental results validate the proposed approach and show its robustness regarding to approximated depths, non Lambertian objects and partial occlusions.
Type de document :
Communication dans un congrès
IEEE Int. Conf. on Robotics and Automation, ICRA'08, May 2008, Pasadena, United States. 2008
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Christophe Collewet, Eric Marchand, François Chaumette. Visual servoing set free from image processing. IEEE Int. Conf. on Robotics and Automation, ICRA'08, May 2008, Pasadena, United States. 2008. 〈inria-00261398〉

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