Skip to Main content Skip to Navigation
Conference papers

Entropy-based visual servoing

A. Dame 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 : In this work we propose a new way to achieve visual servoing using directly the information (as defined by Shannon) of the image. A metric derived from information theory, mutual information, is considered. Mutual information is widely use in multi-modal image registration (medical applications) since it is insensitive to changes in the lighting condition and to a wide class of non-linear image transformation. In this paper mutual-information is used as a new visual feature for visual servoing and allows us to build a new control law that allows to control the 6 dof of the robot. Among various advantages, this approach does not require any matching nor tracking step, is robust to large illumination variation and allows to consider, within the same task, different image modalities. Experiments that demonstrate these advantages conclude the paper.
Document type :
Conference papers
Complete list of metadata

Cited literature [16 references]  Display  Hide  Download
Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Friday, November 27, 2009 - 9:45:20 PM
Last modification on : Wednesday, February 2, 2022 - 3:50:53 PM
Long-term archiving on: : Thursday, June 17, 2010 - 10:37:20 PM


Files produced by the author(s)


  • HAL Id : inria-00436926, version 1


A. Dame, Eric Marchand. Entropy-based visual servoing. IEEE Int. Conf. on Robotics and Automation, ICRA'09, 2009, Kobe, Japan, Japan. pp.707-713. ⟨inria-00436926⟩



Record views


Files downloads