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Multi-cameras visual servoing

E. Malis 1 François Chaumette 1 S. Boudet 2
1 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : In this paper, the classical visual servoing techniques have been extended to the use of several cameras observing different parts of an object. The multi-cameras visual servoing has been designed as a part of the task function approach. The particular choice of the task function allows us to simplify the design of the control law and the stability analysis. A positioning task on a cumbersome object has been realized using 2D and 2 1/2D visual servoing with two cameras, mounted on a manipulator robot and observing two different parts of the object.
Mots-clés : Asservissement robotique
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Conference papers
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https://hal.inria.fr/inria-00352160
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Submitted on : Monday, January 12, 2009 - 2:59:54 PM
Last modification on : Tuesday, July 28, 2020 - 10:18:02 AM
Long-term archiving on: : Tuesday, June 8, 2010 - 7:42:32 PM

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  • HAL Id : inria-00352160, version 1

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E. Malis, François Chaumette, S. Boudet. Multi-cameras visual servoing. IEEE Int. Conf. on Robotics and Automation, ICRA'00, 2000, San Francisco, California, United States. pp.3183-3188. ⟨inria-00352160⟩

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