Fluminance publications


Jump to : Download | Abstract | Contact | BibTex reference | EndNote reference |


C. Collewet, E. Marchand. Photometry-based visual servoing using light reflexion models. In IEEE Int. Conf. on Robotics and Automation, ICRA'09, Pages 701-706, Kobe, Japan, May 2009.

Download [help]

Download paper: Doi page

Download Hal paper: Hal : Hyper Archive en ligne

Download paper: Adobe portable document (pdf) pdf

Copyright notice:

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.


We present in this paper a way to achieve positioning tasks by visual servoing under complex luminance variations. To do that, we use as visual features the luminance of all pixels in the image as we did in our previous work [Collewet ICRA08]. An important issue of this approach is that it does not rely at all on a any matching nor tracking process, contrary to all the approaches based on geometric visual features (points, straight lines, pose, homography, etc.). However, we consider in this paper a complete illumination model contrary to [Collewet ICRA08] where the temporal luminance constancy hypothesis was assumed. The main issue of this paper is thus the analytical computation of the interaction matrix related to the luminance from the phong illumination model. Experimental results on specular objects validate our approach.


Christophe Collewet

BibTex Reference

   Author = {Collewet, C. and Marchand, E.},
   Title = {Photometry-based visual servoing using light reflexion models},
   BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'09},
   Pages = {701--706},
   Address = {Kobe, Japan},
   Month = {May},
   Year = {2009}

EndNote Reference [help]

Get EndNote Reference (.ref)

This page has been automatically generated by bib2html.

logo of irmar logo of cnrs logo of inrialogo of irstea

Copyright 2009 © Fluminance Team - INRIA - IRSTEA

Webmaster mailto