Abstract : This paper considers the problem of positioning an eye-in-hand system so that it gets parallel to a planar object. Our approach to this problem is based on linking to the camera a structured light emitter designed to produce a suitable set of visual features. The aim of using structured light is not only for simplifying the image processing and allowing low-textured objects to be considered, but also for producing a control scheme with nice properties like decoupling, stability and adequate camera trajectory. This paper focuses on an image-based approach that achieves decoupling in all the workspace and for which the global asymptotic stability is ensured in perfect conditions. The behavior of the image-based approach is shown to be partially equivalent to a 3D visual servoing scheme but with a better robustness with respect to image noise. Concerning the robustness of the approach against calibration errors, it is demonstrated both analytically and experimentally.
Type de document :
Article dans une revue
IEEE Transactions on Robotics, IEEE, 2006, 22 (5), pp.1000-1010
https://hal.inria.fr/inria-00350318
Contributeur : Eric Marchand
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Soumis le : mardi 6 janvier 2009 - 14:21:30
Dernière modification le : mercredi 11 avril 2018 - 01:57:40
Document(s) archivé(s) le : mardi 18 septembre 2012 - 12:40:09
J. Pagès, Christophe Collewet, François Chaumette, J. Salvi. Optimizing plane-to-plane positioning tasks by image-based visual servoing and structured light. IEEE Transactions on Robotics, IEEE, 2006, 22 (5), pp.1000-1010. 〈inria-00350318〉
