Fluminance publications

FLUMINANCE

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

Pages05b

J. Pagès, C. Collewet, F. Chaumette, J. Salvi. Visual servoing by means of structured light for plane-to-plane positioning. Research Report INRIA, No 5579, May 2005.

Download [help]

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.

Abstract

In this paper we face the problem of positioning a camera attached to the end-effector of a robotic manipulator so that it gets parallel to a planar object. Such problem, so-called plane-to-plane positioning, has been treated for a long time in visual servoing. Our approach is based on linking to the camera a structured light emitter composed of four parallel laser pointers so that its distribution is aimed to produce a suitable set of visual features. The aim of using structured lighting is not only for easing the image processing and allowing low-textured objects to be treated, but also for producing a control scheme with nice properties like decoupling, stability and good camera trajectory. This paper proposes several sets of visual features and analyzes their performance and robustness against different types of calibration errors both analytically and experimentally.

Contact

Christophe Collewet

BibTex Reference

@TechReport{Pages05b,
   Author = {Pagès, J. and Collewet, C. and Chaumette, F. and Salvi, J.},
   Title = {Visual servoing by means of structured light for plane-to-plane positioning},
   Number = {5579},
   Institution = {INRIA},
   Month = {May},
   Year = {2005}
}

EndNote Reference [help]

Get EndNote Reference (.ref)


This page has been automatically generated by bib2html.

logo of inrialogo of irstea

Copyright 2009 © Fluminance Team - INRIA - IRSTEA

Webmaster mailto