Direct visual servoing based on multiple intensity histograms - Inria - Institut national de recherche en sciences et technologies du numérique Accéder directement au contenu
Communication Dans Un Congrès Année : 2015

Direct visual servoing based on multiple intensity histograms

Résumé

— Classically Visual servoing considered the regulation in the image of a set of visual features (usually geometric features). Recently direct visual servoing scheme, such as photometric visual servoing, have been introduced in order to consider every pixel of the image as a primary source of information and thus avoid the extraction and the tracking of such geometric features. Previous works proposed methods to use directly the image intensities in the definition of the control law, by using for example mutual information. In this paper, we propose a method to extend these works by using a global descriptor, namely intensity histograms, on the whole or multiple subsets of the images in order to achieve control of a 6 degrees of freedom (DoF) robot. The results are then demonstrated through experimental validations.
Fichier principal
Vignette du fichier
icra-bateux-v3.pdf (2.31 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01120872 , version 1 (26-02-2015)

Identifiants

  • HAL Id : hal-01120872 , version 1

Citer

Quentin Bateux, Eric Marchand. Direct visual servoing based on multiple intensity histograms. IEEE Int. Conf. on Robotics and Automation, ICRA'15, May 2015, Seattle, United States. ⟨hal-01120872⟩
259 Consultations
250 Téléchargements

Partager

Gmail Facebook X LinkedIn More