Abstract : Positioning a robot with respect to objects by using data provided by a camera is a well known technique called visual servoing. In order to perform a task, the object must exhibit visual features which can be extracted from different points of view. Then, visual servoing is object-dependent as it depends on the object appearance. Therefore, performing the positioning task is not possible in presence of non-textured objets or objets for which extracting visual features is too complex or too costly. This paper proposes a solution to tackle this limitation inherent to the current visual servoing techniques. Our proposal is based on the coded structured light approach as a reliable and fast way to solve the correspondence problem. In this case, a coded light pattern is projected providing robust visual features independently of the object appearance.
Type de document :
Communication dans un congrès
IEEE Int. Conf. on Robotics and Automation, ICRA'2006, 2006, Orlando, Florida, France. pp.4118-4123, 2006
https://hal.inria.fr/inria-00350317
Contributeur : Eric Marchand
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Soumis le : mardi 6 janvier 2009 - 14:21:25
Dernière modification le : mercredi 16 mai 2018 - 11:23:03
Document(s) archivé(s) le : mardi 8 juin 2010 - 17:04:34
J. Pagès, Christophe Collewet, François Chaumette, J. Salvi. An approach to visual servoing based on coded light. IEEE Int. Conf. on Robotics and Automation, ICRA'2006, 2006, Orlando, Florida, France. pp.4118-4123, 2006. 〈inria-00350317〉
