What Metric Stereo Can Do for Visual Servoing

Bart Lamiroy 1 Cyrille Puget 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
Abstract : This paper describes a number of geometric tools that can be easily implemented in order to obtain a very robust visual servoing platform. Most often, visual servoing algorithms are either based on calibrated systems or dispose of enough information to self-calibrate. We show that this abundance of information can be exploited in the case of stereo servoing as to offer a solution for some problems related to signal loss such as temporary occlusions, specularities or CAD tracking difficulties. The presented servoing algorithm, can cope with large image perturbations and is able to control a robot through a non modeled set of reference points.
Document type :
Conference papers
Liste complète des métadonnées

https://hal.inria.fr/inria-00590137
Contributor : Team Perception <>
Submitted on : Tuesday, May 3, 2011 - 9:24:49 AM
Last modification on : Wednesday, April 11, 2018 - 1:54:49 AM
Document(s) archivé(s) le : Thursday, August 4, 2011 - 2:58:32 AM

Files

LamiroyIROS2000.pdf
Files produced by the author(s)

Identifiers

Collections

IMAG | INRIA | UGA

Citation

Bart Lamiroy, Cyrille Puget, Radu Horaud. What Metric Stereo Can Do for Visual Servoing. International Conference on Intelligent Robots and Systems (IROS '00), Oct 2000, Takamatsu, Japan. IEEE Computer Society, 1, pp.251--256, 2000, 〈10.1109/IROS.2000.894613〉. 〈inria-00590137〉

Share

Metrics

Record views

257

Files downloads

182