2 1/2 D visual servoing: a possible solution to improve image-based and position-based visual servoings

François Chaumette 1 E. Malis 1
1 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : We describe in this paper potential problems that may appear in image-based visual servoing when the initial camera position is far away from its desired position. We show by concrete examples that local minima or a singularity of the image jacobian can be reached during the servoing. We then recall recent results obtained to avoid these drawbacks. It consists in combining visual features obtained directly from the image, and position-based features. This approach, called 2 1/2 D visual servoing, also provides supplementary advantages in function of the mean the features are combined with.
Mots-clés : Asservissement robotique
Type de document :
Communication dans un congrès
IEEE Int. Conf. on Robotics and Automation, ICRA'00, 2000, San Francisco, USA, United States. 1, pp.630-635, 2000
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François Chaumette, E. Malis. 2 1/2 D visual servoing: a possible solution to improve image-based and position-based visual servoings. IEEE Int. Conf. on Robotics and Automation, ICRA'00, 2000, San Francisco, USA, United States. 1, pp.630-635, 2000. 〈inria-00352153〉

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