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Adaptive visual servoing by simultaneous camera calibration

J. Pomares 1 François Chaumette 2 F. Torres 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 : Calibration techniques allow the estimation of the intrinsic parameters of a camera. This paper describes an adaptive visual servoing scheme which employs the visual data measured during the task to determine the camera intrinsic parameters. This approach is based on the virtual visual servoing approach. However, in order to increase the robustness of the calibration several aspects have been introduced in this approach with respect to the previous developed virtual visual servoing systems. Furthermore, the system is able to determine the value of the intrinsic parameters when they vary during the task. This approach has been tested using an eye-in-hand robotic system.
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J. Pomares, François Chaumette, F. Torres. Adaptive visual servoing by simultaneous camera calibration. IEEE Int. Conf. on Robotics and Automation, ICRA'07, 2007, Rome, Italy. pp.2811-2816. ⟨inria-00350596⟩

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