Plane-to-plane positioning from image-based visual servoing and structured light

J. Pagès 1 Christophe Collewet 2, 3 François Chaumette 2 J. Salvi 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 : In this paper some advantages of using structured light for designing visual features in a visual servoing control scheme are presented. The typical advantage of structured light in any computer vision application is that the image processing is simplified. However, we point out that a more important advantage of using structured light in visual servoing is the possibility to create and to choose the visual features. The potentiality of structured light in the visual servoing field is shown in this paper by focusing on a specific task of positioning a camera parallel to a planar object so that three degrees of freedom are controlled. Concretely, we show how a diagonal interaction matrix can be designed with the aid of a suitable structured light configuration. Furthermore, the flexibility of the structured light approach allows the condition number of the interaction matrix to be optimised and to adjust its sensitivity, increasing the stability of the control law. Such a design can also be used to reduce the non-linearities of the interaction matrix in order to obtain a better 3D trajectory.
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Communication dans un congrès
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'04, 2004, Sendai, Japan, Japan. 1, pp.1004--1009, 2004
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J. Pagès, Christophe Collewet, François Chaumette, J. Salvi. Plane-to-plane positioning from image-based visual servoing and structured light. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'04, 2004, Sendai, Japan, Japan. 1, pp.1004--1009, 2004. 〈inria-00352034〉

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