Image-based visual servoing on planar objects of unknown shape - INRAE - Institut national de recherche pour l’agriculture, l’alimentation et l’environnement Accéder directement au contenu
Communication Dans Un Congrès Année : 2001

Image-based visual servoing on planar objects of unknown shape

Résumé

This paper proposes a way to achieve positioning tasks by visual servoing, for any orientation of the camera, when the desired image of the observed object cannot be precisely described. The object is assumed to be planar and motionless but no knowledge about its shape or pose is required. To simplify the problem, first, we treat the case of a threadlike object and then we show how our approach can be generalized to an object with three particular points. The control law is based on the use of 2d visual servoing and on an estimation of a 3d parameter. Experimental results relative to objects of unknown shape are given to validate the approach. In addition, an algorithm to estimate the depth between the object and the camera is provided which leads to the dimensions of the object.

Mots clés

Fichier principal
Vignette du fichier
2001_icra_collewet.pdf (523.12 Ko) Télécharger le fichier
Origine : Fichiers éditeurs autorisés sur une archive ouverte
Loading...

Dates et versions

inria-00352119 , version 1 (12-01-2009)

Identifiants

Citer

Christophe Collewet, François Chaumette, P. Loisel. Image-based visual servoing on planar objects of unknown shape. IEEE Int. Conf. on Robotics and Automation, ICRA'01, 2001, Seoul, South Korea. pp.247-252. ⟨inria-00352119⟩
164 Consultations
182 Téléchargements

Partager

Gmail Facebook X LinkedIn More