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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.
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Submitted on : Tuesday, January 6, 2009 - 1:56:35 PM
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  • HAL Id : inria-00350284, version 1


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



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