Visual Servoing when Visual Information is Missing: Experimental Comparison of Visual Feature Prediction Schemes - Inria - Institut national de recherche en sciences et technologies du numérique
Conference Papers Year : 2015

Visual Servoing when Visual Information is Missing: Experimental Comparison of Visual Feature Prediction Schemes

Abstract

One way to deal with occlusions or loss of tracking of the visual features used for visual servoing tasks is to predict the feature behavior in the image plane when the measurements are missing. Different prediction and correction methods have already been proposed in the literature. The purpose of this paper is to compare and experimentally validate some of these methods for eye-in-hand and eye-to-hand configurations. In particular, we show that a correction based both on the image and the camera/target pose provides the best results.
Fichier principal
Vignette du fichier
2015_icra_cazy.pdf (1.42 Mo) Télécharger le fichier
Origin Files produced by the author(s)
Loading...

Dates and versions

hal-01121632 , version 1 (02-03-2015)

Identifiers

Cite

Nicolas Cazy, Pierre-Brice Wieber, Paolo Robuffo Giordano, François Chaumette. Visual Servoing when Visual Information is Missing: Experimental Comparison of Visual Feature Prediction Schemes. ICRA'15 - IEEE International Conference on Robotics and Automation, May 2015, Seattle, United States. pp.6031-6036, ⟨10.1109/ICRA.2015.7140045⟩. ⟨hal-01121632⟩
984 View
377 Download

Altmetric

Share

More