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Conference papers

Visual servoing with respect to complex objects

Andrew Comport 1 O. Tahri 1, 2 E. Marchand 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 presents new advances in the field of visual servoing. More precisely, we consider the case where complex objects are observed by a camera. In a first part, planar objects of unknown shape are considered using image moments as input of the image-based control law. In the second part, a pose estimation and tracking algorithm is described to deal with real objects whose 3D model is known. For each case, experimental results obtained with an eye-in-hand system are presented.
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Submitted on : Monday, January 12, 2009 - 1:52:47 PM
Last modification on : Monday, June 27, 2022 - 3:05:15 AM
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  • HAL Id : inria-00352022, version 1


Andrew Comport, O. Tahri, E. Marchand, François Chaumette. Visual servoing with respect to complex objects. Int. Symp. on Robotics, ISR'04, 2004, Paris, France, France. ⟨inria-00352022⟩



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