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Model-free visual servoing on complex images based on 3D reconstruction

Christophe Collewet 1 A. Alhaj 1 François Chaumette 2
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 : We present a way to achieve positioning tasks by model-free visual servoing in the case of planar and motionless objects whose shape is unknown. Emphasize is made on the algorithm of 3d reconstruction which allows to synthetize easily the control law. More precisely, the reconstruction phase is based on the measurement of the 2D displacements in a region of interest and on the measurement of the camera velocity. However, we will show that the proposed algorithm is robust with respect to nonaccurate values of this velocity. 2D displacements rather than 2D motions are used to remove the assumption that the acquisition rate has to be high. In addition, a particular attention is paid to the complex case of large displacements to access high camera velocities. Once the parameters of the plane are sufficiently stable, a visual servoing scheme is used to control the orientation of the camera with respect to the object and to ensure that it remains in the camera eld of view for any desired orientation. The 3D reconstruction phase is maintained active during the servoing to improve the accuracy of the parameters and, consequently, to obtain a small positioning error. Experimental results validate the proposed approach.
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https://hal.inria.fr/inria-00352021
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Submitted on : Monday, January 12, 2009 - 1:52:39 PM
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  • HAL Id : inria-00352021, version 1

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Christophe Collewet, A. Alhaj, François Chaumette. Model-free visual servoing on complex images based on 3D reconstruction. IEEE Int. Conf. on Robotics and Automation, ICRA'04, 2004, New Orleans, Louisiana, France. pp.751-756. ⟨inria-00352021⟩

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