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Conference Papers Year : 2017

Visual Servoing from lines using a planar catadioptric system

Abstract

In this paper, we propose a complete scheme to control a mirror, using a visual servoing scheme, using lines as a set of visual features. Considering the equations of the projection of the reflection of a lines on a mirror, this paper introduces the theoretical background that allows to control the mirror using visual information. Experiments using a mirror mounted on the end-effector of a 6 d.o.f robot validate the proposed approach.
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Dates and versions

hal-01561757 , version 1 (13-07-2017)

Identifiers

  • HAL Id : hal-01561757 , version 1

Cite

Eric Marchand, Benjamin Fasquelle. Visual Servoing from lines using a planar catadioptric system. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'17, Sep 2017, Vancouver, Canada. pp.2935-2940. ⟨hal-01561757⟩
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