Plane-to-plane positioning from image-based visual servoing and structured light

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 has been treated for a long time in visual servoing. Our approach is based on linking to the camera several laser pointers so that...

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Veröffentlicht in:	2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : 28 September - 2 October, 2004, Sendai, Japan : proceedings 2004, Sendai, Japan : proceedings, 2010-05
Hauptverfasser:	Pagès Marco, Jordi, Collewet, Christophe, Chaumette, François, Salvi Mas, Joaquim
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer vision Depth perception Percepció de la profunditat Robot vision Servomecanismes Visió artificial (Robòtica) Visió per ordinador
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Beschreibung
Zusammenfassung:	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 has been treated for a long time in visual servoing. Our approach is based on linking to the camera several laser pointers so that its configuration is aimed to produce a suitable set of visual features. The aim of using structured light is not only for easing the image processing and to allow low-textured objects to be treated, but also for producing a control scheme with nice properties like decoupling, stability, well conditioning and good camera trajectory