Direct 3D servoing using dense depth maps - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2012

Direct 3D servoing using dense depth maps


This paper proposes a novel 3D servoing approach using dense depth maps to achieve robotic tasks. With respect to position-based approaches, our method does not require the estimation of the 3D pose (direct), nor the extraction and matching of 3D features (dense) and only requires dense depth maps provided by 3D sensors. Our approach has been validated in servoing experiments using the depth information from a low cost RGB-D sensor. Positioning tasks are properly achieved despite the noisy measurements, even when partial occlusions or scene modifications occur.
Fichier principal
Vignette du fichier
2012_iros_teuliere.pdf (1.09 Mo) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-00750583 , version 1 (12-11-2012)


  • HAL Id : hal-00750583 , version 1


Céline Teulière, Eric Marchand. Direct 3D servoing using dense depth maps. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'12, 2012, Vilamoura, Portugal. pp.1741-1746. ⟨hal-00750583⟩
463 View
271 Download


Gmail Facebook X LinkedIn More