Positioning a camera with respect to planar objects of unknown shape by coupling 2D visual servoing and 3D estimations

Christophe Collewet 1 François Chaumette 2
1 CEMAGREF
2 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : This paper proposes a way to achieve positioning tasks by 2d visual servoing, when the desired image of the observed object cannot be precisely described. The object is assumed to be planar and motionless but no knowledge about its shape or pose is required. First, we treat the case of a threadlike object and then we show how our approach can be generalized to an object with three particular points. The control law is based on the use of 2d visual servoing and on an estimation of two 3d parameters. We show that this control scheme is not sensitive to the calibration of the camera. We conclude this paper by experimental results relative to objects of unknown shape. In addition, an algorithm to estimate the depth between the object and the camera is provided which finally leads a 3d estimation of the object shape.
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Article dans une revue
IEEE Transactions on Robotics and Automation, Institute of Electrical and Electronics Engineers (IEEE), 2002, 18 (3), pp.322-333
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Christophe Collewet, François Chaumette. Positioning a camera with respect to planar objects of unknown shape by coupling 2D visual servoing and 3D estimations. IEEE Transactions on Robotics and Automation, Institute of Electrical and Electronics Engineers (IEEE), 2002, 18 (3), pp.322-333. 〈inria-00352088〉

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