Pages06b

J. Pagès, C. Collewet, F. Chaumette, J. Salvi. Optimizing plane-to-plane positioning tasks by image-based visual servoing and structured light. IEEE Trans. on Robotics, 22(5):1000-1010, October 2006.

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Abstract

This paper considers the problem of positioning an eye-in-hand system so that it gets parallel to a planar object. Our approach to this problem is based on linking to the camera a structured light emitter designed to produce a suitable set of visual features. The aim of using structured light is not only for simplifying the image processing and allowing low-textured objects to be considered, but also for producing a control scheme with nice properties like decoupling, stability and adequate camera trajectory. This paper focuses on an image-based approach that achieves decoupling in all the workspace and for which the global asymptotic stability is ensured in perfect conditions. The behavior of the image-based approach is shown to be partially equivalent to a 3D visual servoing scheme but with a better robustness with respect to image noise. Concerning the robustness of the approach against calibration errors, it is demonstrated both analytically and experimentally.

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Christophe Collewet

BibTex Reference

@article{Pages06b,
   Author = {Pagès, J. and Collewet, C. and Chaumette, F. and Salvi, J.},
   Title = {Optimizing plane-to-plane positioning tasks by image-based visual servoing and structured light},
   Journal = {IEEE Trans. on Robotics},
   Volume = {    22},
   Number = {5},
   Pages = {1000--1010},
   Month = {October},
   Year = {2006}
}

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