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A camera-projector system for robot positioning by visual servoing

J. Pagès 1 Christophe Collewet 2 François Chaumette 2 J. Salvi 1 
2 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 : 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.
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Submitted on : Tuesday, January 6, 2009 - 2:21:32 PM
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  • HAL Id : inria-00350319, version 1


J. Pagès, Christophe Collewet, François Chaumette, J. Salvi. A camera-projector system for robot positioning by visual servoing. IEEE Int. Workshop on Projector-Camera Systems, PROCAM'2006, 2006, New York, France. pp.2-9. ⟨inria-00350319⟩



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