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Vision-based control using probabilistic geometry for objects reconstruction

Grégory Flandin 1 François Chaumette 1 
1 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : We first present a suitable object knowledge representation based on a mixture of stochastic and set membership models and consider an approximation resulting in ellipsoidal calculus by means of a normal assumption for stochastic laws and ellipsoidal over or inner bounding for uniform laws. Then we, build an efficient estimation process integrating visual data online and perform online and optimal exploratory motions for the camera. The control schemes are based on the maximization of the a posteriori predicted information
Mots-clés : Asservissement robotique VA
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Conference papers
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Submitted on : Monday, January 12, 2009 - 2:47:27 PM
Last modification on : Friday, February 4, 2022 - 3:18:46 AM
Long-term archiving on: : Tuesday, June 8, 2010 - 7:39:40 PM


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  • HAL Id : inria-00352128, version 1


Grégory Flandin, François Chaumette. Vision-based control using probabilistic geometry for objects reconstruction. IEEE Int. Conf. on Decision and Control, CDC'01, 2001, Orlando, Florida, United States. pp.4152-4157. ⟨inria-00352128⟩



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