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Conference Papers Year : 2012

Direct 3D servoing using dense depth maps

Abstract

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.
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Dates and versions

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

Identifiers

  • HAL Id : hal-00750583 , version 1

Cite

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⟩
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