Robust decoupled visual servoing based on structured light

J. Pagès 1 Christophe Collewet 2 François Chaumette 3 J. Salvi 1
3 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 focuses on the problem of realizing a plane-to-plane virtual link between a camera attached to the end-effector of a robot and a planar object. In order to do the system independent to the object surface appearance, a structured light emitter is linked to the camera so that 4 laser pointers are projected onto the object. In a previous paper we showed that such a system has good performance and nice characteristics like partial decoupling near the desired state and robustness against misalignment of the emitter and the camera. However, no analytical results concerning the global asymptotic stability of the system were obtained due to the high complexity of the visual features utilized. In this work we present a better set of visual features which improves the properties of the features involved in our previous paper and for which it is possible to prove the global asymptotic stability.
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Communication dans un congrès
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'05, 2005, Edmonton, Canada, France. 2, pp.2676-2681, 2005
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J. Pagès, Christophe Collewet, François Chaumette, J. Salvi. Robust decoupled visual servoing based on structured light. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'05, 2005, Edmonton, Canada, France. 2, pp.2676-2681, 2005. 〈inria-00351900〉

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