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F. Chaumette, E. Malis, S. Boudet. 2D 1/2 visual servoing with respect to a planar object. In Workshop on New Trends in Image-based Robot Servoing, IROS'97, Pages 45-52, Grenoble, France, September 1997.

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In this paper, we propose a new vision-based robot control approach which is halfway between the classical position-based and image-based visual servoings. It allows to avoid their respective disadvantages. For a planar object, the homography between the feature points extracted from two images (corresponding to the current and desired camera poses) is computed at each iteration of the control law. From this homography, an approximate partial-pose, where the translational term is known only up to a scale factor, is deduced. Using parameters of this partial pose and image features, it is possible to design a closed-loop control law controlling the six camera d.o.f. Contrarily to the position-based visual servoing, our scheme does not need any geometric 3D model of the object. Furthermore and contrarily to the image-based visual servoing, our approach ensures the convergence of the control law in all the task space


François Chaumette

BibTex Reference

   Author = {Chaumette, F. and Malis, E. and Boudet, S.},
   Title = {2D 1/2 visual servoing with respect to a planar object},
   BookTitle = {Workshop on New Trends in Image-based Robot Servoing, IROS'97},
   Pages = {45--52},
   Address = {Grenoble, France},
   Month = {September},
   Year = {1997}

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