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 |
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| container_title | 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : 28 September - 2 October, 2004, Sendai, Japan : proceedings |
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| creator | Pagès Marco, Jordi Collewet, Christophe Chaumette, François Salvi Mas, Joaquim |
| description | 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 |
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| identifier | ISBN: 0780384636 |
| ispartof | 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) : 28 September - 2 October, 2004, Sendai, Japan : proceedings, 2010-05 |
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| language | eng |
| recordid | cdi_csuc_recercat_oai_recercat_cat_2072_58668 |
| source | IEEE Electronic Library (IEL) Conference Proceedings; Recercat |
| subjects | Computer vision Depth perception Percepció de la profunditat Robot vision Servomecanismes Visió artificial (Robòtica) Visió per ordinador |
| title | Plane-to-plane positioning from image-based visual servoing and structured light |
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