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Conference Papers Year : 2006

An approach to visual servoing based on coded light

Abstract

Positioning a robot with respect to objects by using data provided by a camera is a well known technique called visual servoing. In order to perform a task, the object must exhibit visual features which can be extracted from different points of view. Then, visual servoing is object-dependent as it depends on the object appearance. Therefore, performing the positioning task is not possible in presence of non-textured objets or objets for which extracting visual features is too complex or too costly. This paper proposes a solution to tackle this limitation inherent to the current visual servoing techniques. Our proposal is based on the coded structured light approach as a reliable and fast way to solve the correspondence problem. In this case, a coded light pattern is projected providing robust visual features independently of the object appearance.
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Dates and versions

inria-00350317 , version 1 (06-01-2009)

Identifiers

  • HAL Id : inria-00350317 , version 1

Cite

J. Pagès, Christophe Collewet, François Chaumette, J. Salvi. An approach to visual servoing based on coded light. IEEE Int. Conf. on Robotics and Automation, ICRA'2006, 2006, Orlando, Florida, United States. pp.4118-4123. ⟨inria-00350317⟩
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