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Robust decoupled visual servoing based on structured light
Pagès Marco, Jordi; Collewet, Christophe; Chaumette, François; Salvi Mas, Joaquim
This paper focuses on the problem of realizing a plane-to-plane virtual link between a camera attached to the end-effector of a robot and a planar object. In order to do the system independent to the object surface appearance, a structured light emitter is linked to the camera so that 4 laser pointers are projected onto the object. In a previous paper we showed that such a system has good performance and nice characteristics like partial decoupling near the desired state and robustness against misalignment of the emitter and the camera (J. Pages et al., 2004). However, no analytical results concerning the global asymptotic stability of the system were obtained due to the high complexity of the visual features utilized. In this work we present a better set of visual features which improves the properties of the features in (J. Pages et al., 2004) and for which it is possible to prove the global asymptotic stability
2010-05-17
Servomecanismes
Visió artificial (Robòtica)
Visió per ordinador
Percepció de la profunditat
Computer vision
Depth perception
Robot vision
Tots els drets reservats
Article
IEEE
         

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