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
https://hal.inria.fr/inria-00350284
Contributeur : Eric Marchand
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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
