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Stereo tracking and servoing for space applications

F. Dionnet 1 Eric Marchand 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : This paper proposes a real-time, robust and efficient 3D model-based tracking algorithm for visual servoing. A virtual visual servoing approach is used for 3D tracking. This method is similar to more classical non-linear pose computation techniques. Robustness is obtained by integrating an M-estimator into the virtual visual control law via an iteratively re-weighted least squares implementation. The presented approach is also extended to the use of multiple cameras. Results show the method to be robust to occlusion, changes in illumination and miss-tracking.
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Submitted on : Friday, November 27, 2009 - 4:42:55 PM
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F. Dionnet, Eric Marchand. Stereo tracking and servoing for space applications. Advanced Robotics, Taylor & Francis, 2009, 23 (5), pp.579-599. ⟨inria-00436743⟩

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