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An approach to visual servoing based on coded light
Pagès Marco, Jordi; Collewet, Christophe; Chaumette, François; Salvi Mas, Joaquim
Positioning a robot with respect to objects by using data provided by a camera is a well known technique called visual servoing. In order to perform a task, the object must exhibit visual features which can be extracted from different points of view. Then, visual servoing is object-dependent as it depends on the object appearance. Therefore, performing the positioning task is not possible in presence of non-textured objects or objects for which extracting visual features is too complex or too costly. This paper proposes a solution to tackle this limitation inherent to the current visual servoing techniques. Our proposal is based on the coded structured light approach as a reliable and fast way to solve the correspondence problem. In this case, a coded light pattern is projected providing robust visual features independently of the object appearance
2010-06-02
Servomecanismes
Visió artificial (Robòtica)
Robot vision
Tots els drets reservats
Article
IEEE
         

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