HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Conference papers

Using robust estimation for visual servoing based on dynamic vision

Christophe Collewet 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 : The aim of this article is to achieve accurate visual servoing tasks when the shape of the object being observed as well as the final image are unknown. More precisely, we want to control the orientation of the tangent plane at a certain point on the object corresponding to the center of a region of interest and to move this point to the principal point to fulfill a fixation task. To do that, we perform a 3D reconstruction phase during the servoing. It is based on the measurement of the 2D displacement in the region of interest and on the measurement of the camera velocity. Since the 2D displacement depends on the scene, we introduce an unified motion model to deal with planar as well with non-planar objects. Unfortunately, this model is only an approximation. Thus, we propose to use robust estimation techniques and a 3D reconstruction based on discrete approach. Experimental results compare both approaches.
Document type :
Conference papers
Complete list of metadata

Cited literature [26 references]  Display  Hide  Download

Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Wednesday, January 7, 2009 - 2:26:55 PM
Last modification on : Tuesday, October 19, 2021 - 11:58:47 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 6:54:16 PM


Files produced by the author(s)


  • HAL Id : inria-00350640, version 1


Christophe Collewet, François Chaumette. Using robust estimation for visual servoing based on dynamic vision. IEEE Int. Conf. on Robotics and Automation, ICRA'07, 2007, Roma, Italy. pp.2835-2840. ⟨inria-00350640⟩



Record views


Files downloads