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An approach to visual servoing based on coded light
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.
Cited literature [17 references]
https://hal.inria.fr/inria-00350317
Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Tuesday, January 6, 2009 - 2:21:25 PM
Last modification on : Tuesday, October 19, 2021 - 11:58:47 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 5:04:34 PM
Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Tuesday, January 6, 2009 - 2:21:25 PM
Last modification on : Tuesday, October 19, 2021 - 11:58:47 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 5:04:34 PM
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