Dynamic sensor planning in visual servoing

E. Marchand 1 G.D. Hager 2
1 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : We present an approach to dynamic sensor planning problems in visual servoing. Specifically, one of the main problems in image-based visual servoing is to plan the camera trajectory in order to avoid undesired configurations (\g, features out of view, collision with obstacles, ...). Our approach uses the robot redundancy and employs a control scheme based on the task function approach. It combines the regulation of the selected vision-based task with the minimization of a secondary cost function, which reflects given constraints on the manipulator trajectory. We describe how this methodology is applied to common problems in robotic vision: occlusion avoidance, field of view constraint and obstacle avoidance. We have demonstrated the validity of this approach with various experiments.
Mots-clés : Asservissement robotique VA
Type de document :
Communication dans un congrès
IEEE Int. Conf. on Robotics and Automation, ICRA'98, 1998, Leuven, Belgium. 3, pp.1988-1993, 1998
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https://hal.inria.fr/inria-00352560
Contributeur : Eric Marchand <>
Soumis le : mardi 13 janvier 2009 - 12:28:11
Dernière modification le : mercredi 11 avril 2018 - 01:52:48
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1998_icra_marchand.pdf
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  • HAL Id : inria-00352560, version 1

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E. Marchand, G.D. Hager. Dynamic sensor planning in visual servoing. IEEE Int. Conf. on Robotics and Automation, ICRA'98, 1998, Leuven, Belgium. 3, pp.1988-1993, 1998. 〈inria-00352560〉

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