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Controlling Robots with Two Cameras: How to Do it Properly

Bart Lamiroy 1 Bernard Espiau 2 Nicolas Andreff 1 Radu Horaud 1
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
2 BIP - Biped Robot
Inria Grenoble - Rhône-Alpes
Abstract : In this paper we address visual servoing through a fixed stereo rig using an image Jacobian. Existing methods are based on the stacking of monocular servo image Jacobians, resulting in largely over­constrained control commands. In this paper we formally show that the epipolar constraint between two images can be taken into account explicitly. We then show that use of stereo significantly increases the quality of the servo task execution, especially where precision, ro­ bustness and smoothness of movement is concerned.
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https://hal.inria.fr/inria-00590135
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Submitted on : Tuesday, May 3, 2011 - 9:24:47 AM
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Bart Lamiroy, Bernard Espiau, Nicolas Andreff, Radu Horaud. Controlling Robots with Two Cameras: How to Do it Properly. IEEE International Conference on Robotics and Automation (ICRA '00), Apr 2000, San Francisco, United States. pp.2100--2105, ⟨10.1109/ROBOT.2000.846339⟩. ⟨inria-00590135⟩

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