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Optimizing plane-to-plane positioning tasks by image-based visual servoing and structured light
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.
Cited literature [21 references]
https://hal.inria.fr/inria-00350318
Contributor : Eric Marchand <>
Submitted on : Tuesday, January 6, 2009 - 2:21:30 PM
Last modification on : Thursday, January 7, 2021 - 4:37:12 PM
Long-term archiving on: : Tuesday, September 18, 2012 - 12:40:09 PM
Contributor : Eric Marchand <>
Submitted on : Tuesday, January 6, 2009 - 2:21:30 PM
Last modification on : Thursday, January 7, 2021 - 4:37:12 PM
Long-term archiving on: : Tuesday, September 18, 2012 - 12:40:09 PM
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