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Conference Papers Year : 2018

Geometric and photometric vision-based robot control: modeling approach

Abstract

Vision-based robot control is a general methodology that consists in controlling the motions of a robot in closed loop with respect to visual data. The lecture will describe the different modeling steps necessary to design kinematics control schemes and a panel of applications showing the large class of robotics tasks that can be accomplished using this methodology. In a first part, the traditional approach based on geometric visual features, such as image points, image moments, or camera-object pose will be described. The more recent dense approach that directly uses the image content without any image tracking nor matching process will be also considered, providing a link to CNN modern methods that use the same inputs.
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Dates and versions

hal-01935405 , version 1 (26-11-2018)

Identifiers

  • HAL Id : hal-01935405 , version 1

Cite

François Chaumette. Geometric and photometric vision-based robot control: modeling approach. ICRA 2018 Tutorial on Vision-based Robot Control, May 2018, Brisbane, Australia. ⟨hal-01935405⟩
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