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Plane-to-plane positioning from image-based visual servoing and structured light
Pagès Marco, Jordi; Collewet, Christophe; Chaumette, François; Salvi Mas, Joaquim
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
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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