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Conference Papers Year : 2011

Multi-sensor data fusion in sensor-based control: application to multi-camera visual servoing

Abstract

A low-level sensor fusion scheme is presented for the positioning of a multi-sensor robot. This non-hierarchical framework can be used for robot arms or other velocity- controlled robots, and is part of the task function approach. A stability analysis is presented for the general case, then several control laws illustrate the versatility of the framework. This approach is applied to the multi-camera eye-in-hand/eye- to-hand configuration in visual servoing. Experimental results point out the feasibility and the effectiveness of the proposed control laws. Mono-camera and multi-camera schemes are compared, showing that the proposed sensor fusion scheme improves the behavior of a robot arm.

Keywords

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Dates and versions

hal-00639682 , version 1 (09-11-2011)

Identifiers

  • HAL Id : hal-00639682 , version 1

Cite

Olivier Kermorgant, F. Chaumette. Multi-sensor data fusion in sensor-based control: application to multi-camera visual servoing. IEEE Int. Conf. on Robotics and Automation, ICRA'11, 2011, Shanghai, China, China. pp.4518-4523. ⟨hal-00639682⟩
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