Photometric visual servoing - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Reports (Research Report) Year : 2008

Photometric visual servoing


This report proposes a new way to achieve robotic tasks by 2D visual servoing. Indeed, instead of using classical geometric features such as points, straight lines, pose or an homography, as it is usually done, the luminance of all pixels in the image is here considered. The main advantage of this new approach is that it does not require any tracking or matching process. The key point of our approach relies on the analytic computation of the interaction matrix that links the time variation of the luminance to the camera motions. This computation is based either on a simple Lambertian model or on the Phong one so that complex illumination changes can be considered. However, since most of the classical control laws fail when considering the luminance as a visual feature, we turn the visual servoing problem into an optimization one leading to a new control law. Experimental results on positioning and tracking tasks validate the proposed approach and show its robustness regarding to approximated depths, Lambertian and non Lambertian objects, low textured objects and partial occlusions
Fichier principal
Vignette du fichier
RR-6631.pdf (2.28 Mo) Télécharger le fichier
Origin Files produced by the author(s)

Dates and versions

inria-00319107 , version 1 (05-09-2008)


  • HAL Id : inria-00319107 , version 1


Christophe Collewet, Eric Marchand. Photometric visual servoing. [Research Report] RR-6631, INRIA. 2008, pp.39. ⟨inria-00319107⟩
274 View
474 Download


Gmail Mastodon Facebook X LinkedIn More