Statistically robust 2D visual servoing

Andrew Comport 1 E. 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 : A fundamental step towards broadening the use of real world image-based visual servoing is to deal with the important issue of reliability and robustness. In order to address this issue, a closed loop control law is proposed that simultaneously accomplishes a visual servoing task and is robust to a general class of image processing errors. This is achieved with the application of widely accepted statistical techniques such as robust M-estimation and LMedS. Experimental results are presented which demonstrate visual servoing tasks that resist severe outlier contamination.
Type de document :
Article dans une revue
IEEE Transactions on Robotics, IEEE, 2006, 22 (2), pp.415-421
Liste complète des métadonnées

Littérature citée [15 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/inria-00350284
Contributeur : Eric Marchand <>
Soumis le : mardi 6 janvier 2009 - 13:56:35
Dernière modification le : mercredi 16 mai 2018 - 11:23:03
Document(s) archivé(s) le : mardi 8 juin 2010 - 18:40:13

Fichier

2006_ieee_tro_comport.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : inria-00350284, version 1

Citation

Andrew Comport, E. Marchand, François Chaumette. Statistically robust 2D visual servoing. IEEE Transactions on Robotics, IEEE, 2006, 22 (2), pp.415-421. 〈inria-00350284〉

Partager

Métriques

Consultations de la notice

709

Téléchargements de fichiers

160