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Vision-based guidance and control of robots in projective space

Andreas Ruf 1 Radu Horaud 1 
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : In this paper, we address the problem of visually guiding and controlling a robot in projective three-space using stereo vision. As the proposed method is entirely formulated in projective space, metric models of the system have become obsolete and "easy-to-find" projective models of both, the stereo geometry and the robot's "projective kinematics", may be used. More precisely, a given task is decomposed into its elementary parts, a translation and two rotations, based on projective constraints on its mobility- and visibility. These primitives allow trajectories to be defined which are visually and globally feasible, i.e. problems like self-occlusions, local minima, or divergent control vanish. Although robot guidance through tracking the trajectories by image-based visual servoing is now feasible, we investigate a directly computed control which combines feed-forward control with a feed-back error in each component of the task. The method is validated and evaluted on a classical benchmark test in visual robot control ­ a 180o turn ­ for which most image-based and stereo-based control laws fail.
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Andreas Ruf, Radu Horaud. Vision-based guidance and control of robots in projective space. 6th European Conference on Computer Vision (ECCV '00), Jun 2000, Dublin, Ireland. pp.50--66, ⟨10.1007/3-540-45053-X_4⟩. ⟨inria-00590142⟩



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