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A Qualitative visual servoing: Application to the visibility constraint

A. Remazeilles 1 Nicolas Mansard 1 François Chaumette 1 
1 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 : This paper describes an original control law called qualitative servoing. The particularity of this method is that no specific desired value is specified for the visual features involved in the control scheme. Indeed, visual features are only constrained to belong to a confident interval, which gives more flexibility to the system. While this formalism can be used for several types of visual features, it is used in this paper for improving the on-line control of the visibility of a target. The principle is to make a compromise between the classical positioning task and the visibility constraint. Experimental results obtained with a six degrees of freedom robot arm are presented, demonstrating the performance of the proposed method.
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Submitted on : Tuesday, January 6, 2009 - 2:21:40 PM
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  • HAL Id : inria-00350324, version 1


A. Remazeilles, Nicolas Mansard, François Chaumette. A Qualitative visual servoing: Application to the visibility constraint. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'06, 2006, Beijing, China, France. pp.4297-4303. ⟨inria-00350324⟩



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