Abstract : We describe a method to achieve robotic positioning tasks by image-based visual servoing when the object being observed has a complex and unknown shape. We first focus on the computation of an analytical expression of the interaction matrix according to a polar description of the image contour of the object. Experimental results are presented to validate the proposed algorithm. In particular, the robustness of the control law is tested with respect to a coarse calibrated system, to an approximation of the depth of the object, and to partial occlusion.
Type de document :
Communication dans un congrès
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'00, 2000, Takamatsu, Japan. 1, pp.751-756, 2000
https://hal.inria.fr/inria-00352157
Contributeur : Eric Marchand
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Soumis le : lundi 12 janvier 2009 - 14:58:48
Dernière modification le : mercredi 16 mai 2018 - 11:23:06
Document(s) archivé(s) le : mardi 8 juin 2010 - 19:42:09
Christophe Collewet, François Chaumette. A contour approach for image-based control of objects with complex shape.. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'00, 2000, Takamatsu, Japan. 1, pp.751-756, 2000. 〈inria-00352157〉
